Task: Carry a pencil while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.909          -2.0           0              270            0
   1  Mug             -1.474         0.801          -4.029         0              0              0              36
   2  CD              -3.466         0.980          -3.673         0              0              0              39
   3  CellPhone       -3.751         0.419          -3.185         0              0              0              47
   4  Pencil          -0.774         0.546          -3.676         0              0              0              30
   5  Pencil          -3.687         0.984          -3.271         0              0              0              39
   6  CreditCard      -1.066         0.803          -4.137         0              0              0              36
   7  Laptop          -2.770         0.618          -0.931         0              0              0              21
   8  Book            -1.474         0.800          -3.811         0              0              0              36
   9  CellPhone       -0.426         0.189          -3.811         0              0              0              28
  10  Laptop          -2.981         0.618          -2.080         0              0              0              21
  11  CreditCard      -0.657         0.800          -3.703         0              0              0              36
  12  AlarmClock      -0.453         0.803          -4.029         0              0              0              36
  13  KeyChain        -0.249         0.800          -4.137         0              0              0              36
  14  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          21
  15  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  16  Pencil          -3.637         0.048          -4.164         0              0              0              44
  17  Pillow          -3.335         0.681          -0.415         0              0              0              21
  18  CD              -0.418         0.542          -3.713         0              0              0              30
  19  Pen             -0.596         0.548          -3.713         0              0              0              30
  20  Mug             -3.539         0.977          -4.276         0              0              0              39
  21  Bed             -2.980         0.009          -1.177         0              0              0
  22  LightSwitch     -1.620         1.351          0.0            0              180            0
  23  DeskLamp        -1.529         0.790          -4.298         0              0              0
  24  Mirror          -0.002         1.251          -2.592         0              90             0
  25  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  26  Window          0.209          1.180          -1.504         90             270            0
  27  Drawer          -0.503         0.067          -4.188         0              180            0
  28  Drawer          -0.502         0.226          -3.799         0              0              0
  29  Drawer          -0.502         0.385          -3.799         0              0              0
  30  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  31  Drawer          -0.502         0.067          -3.799         0              0              0
  32  Blinds          0.163          2.196          -1.495         0              270            0
  33  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  34  Drawer          -0.503         0.385          -4.188         0              180            0
  35  Drawer          -0.503         0.226          -4.188         0              180            0
  36  Desk            -0.862         0.006          -4.028         0              0              0
  37  Drawer          -3.609         0.876          -4.055         0              90             0
  38  Drawer          -3.608         0.112          -3.261         0              90             0
  39  Dresser         -3.653         0.008          -3.658         0              90             0
  40  Drawer          -3.609         0.688          -3.261         0              90             0
  41  Drawer          -3.609         0.300          -3.261         0              90             0
  42  Drawer          -3.609         0.494          -4.055         0              90             0
  43  Drawer          -3.609         0.300          -4.055         0              90             0
  44  Drawer          -3.608         0.112          -4.055         0              90             0
  45  Drawer          -3.609         0.688          -4.055         0              90             0
  46  Drawer          -3.609         0.876          -3.261         0              90             0
  47  Drawer          -3.609         0.494          -3.261         0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Move to the right side of the wooden dresser where the pencil is | STEP 2: Pick up the pencil on top of the dresser | STEP 3: Carry the pencil over to the right side of the white desk where the lamp is | STEP 4: Turn on the lamp | END