Task: turn on a lamp while holding a pencil

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          -0.5           0              180            0
   1  Newspaper       0.967          0.334          1.819          0              0              0              21
   2  Newspaper       2.800          0.321          1.583          0              90             0              30
   3  Pencil          2.033          0.476          0.186          0              180            0              31
   4  KeyChain        1.324          0.474          0.349          0              180            0              31
   5  RemoteControl   2.583          0.324          1.727          0              90             0              30
   6  RemoteControl   3.967          0.877          0.865          0              0              0              40
   7  Box             1.380          0.582          1.819          0              0              0              39
   8  Newspaper       1.466          0.476          0.512          0              180            0              31
   9  Laptop          1.805          0.47           0.499          0              0              0              31
  10  WateringCan     1.621          0.056          -0.697         0              0              0              36
  11  TissueBox       2.008          0.454          -0.691         0              0              0              32
  12  KeyChain        4.047          0.877          1.181          0              0              0              40
  13  Pen             3.888          0.882          0.549          0              0              0              40
  14  Boots           4.005          0.001          1.707          1.563          246.167        0
  15  Pencil          1.592          0.456          -0.691         0              0              0              32
  16  RemoteControl   1.174          0.337          1.892          0              0              0              39
  17  CreditCard      1.682          0.840          -0.623         0              0              0              33
  18  Pillow          0.651          0.395          1.708          0              0              0              21
  19  Statue          -0.532         0.443          -0.738         0              92.244         0              37
  20  Statue          -0.081         0.057          -0.692         0              0              0              34
  21  Sofa            1.174          0.0            1.865          0              0              0
  22  FloorLamp       3.608          0.000          2.163          0              0              0
  23  GarbageCan      3.833          -0.029         -0.495         0              0              0
  24  Television      1.897          1.281          -0.838         0              0              0
  25  Painting        4.070          1.950          0.848          90             270            0
  26  HousePlant      0.387          0.801          -0.725         0              90             0
  27  Window          0.023          2.072          2.484          90             180            0
  28  Window          1.570          2.072          2.484          90             180            0
  29  LightSwitch     -1.399         1.289          1.835          0              90             0
  30  ArmChair        2.655          0.000          1.858          0              180            0
  31  CoffeeTable     1.591          -0.000         0.446          0              180            0
  32  Shelf           1.905          0.588          -0.730         0              0              0
  33  TVStand         1.904          -0.000         -0.770         0              0              0
  34  Shelf           -0.289         0.200          -0.732         0              0              0
  35  TVStand         -0.290         -0.000         -0.772         0              0              0
  36  Shelf           1.905          0.200          -0.730         0              0              0
  37  Shelf           -0.289         0.588          -0.732         0              0              0
  38  ArmChair        -0.270         0.000          1.870          0              181.372        0
  39  Sofa            1.193          0.008          1.865          0              180            0
  40  SideTable       3.946          0.000          0.865          0              270            0
  41  Drawer          3.882          0.774          0.864          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn left and walk down to hall, avoid the red cabinet in front and continue walking towards the end of the room, but stop just short and face the coffee table on your left | STEP 2: pick up a pencil off of the coffee table | STEP 3: turn right and walk to the end of the room, then turn left and walk to the lamp in the corner at the other end of the room | STEP 4: turn on the lamp in the corner of the room | END