Task: Pick up pencil from shelf, turn on dresser lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.902          -0.75          0              0              0
   1  CellPhone       2.601          0.675          -0.303         0              0              0              52
   2  CellPhone       2.647          0.034          -0.041         0              0              0              53
   3  KeyChain        2.394          0.820          0.812          0              270            0              51
   4  KeyChain        2.703          0.822          -0.324         0              270            0              51
   5  AlarmClock      -0.904         0.708          -1.696         0              0              0              31
   6  AlarmClock      2.517          0.821          0.054          0              270            0              51
   7  Box             0.252          0.227          -2.042         0              29.078         0
   8  Book            -0.016         0.730          0.437          0              0              0              21
   9  Statue          2.517          0.827          0.433          0              270            0              51
  10  CellPhone       2.554          0.519          -0.215         0              0              0              52
  11  Pillow          0.148          0.744          1.738          0              195.270        0              21
  12  Pillow          -0.016         0.809          0.967          0              0              0              21
  13  BasketBall      -1.231         0.121          -0.18          0              0              0
  14  CreditCard      2.601          0.191          0.444          0              0              0              50
  15  KeyChain        2.517          0.822          -0.324         0              270            0              51
  16  Pencil          -0.652         0.049          -1.696         0              0              0              38
  17  AlarmClock      0.418          0.832          -2.383         0              0              0              40
  18  Laptop          -0.535         0.781          0.402          0              59.999         0              21
  19  CD              2.647          0.190          0.880          0              0              0              50
  20  Pen             2.507          0.040          -0.215         0              0              0              53
  21  Bed             -0.209         -0.001         0.983          0              0              0
  22  LightSwitch     0.778          1.266          2.128          0              180            0
  23  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  24  Painting        2.063          1.674          -1.865         83.723         0              0
  25  HousePlant      -0.808         0.953          -1.730         0              0              0
  26  Painting        1.871          0.393          -1.792         79.235         0              0
  27  Mirror          2.842          1.404          1.375          0              90             0
  28  DeskLamp        2.676          0.819          0.878          0              0              0
  29  Window          -1.700         1.444          -0.542         90             90             0
  30  Window          0.535          1.412          -2.618         90             0              0
  31  Shelf           -0.904         0.824          -1.754         0              0              0
  32  Shelf           -0.802         0.981          -1.756         0              0              0
  33  Shelf           -0.904         0.555          -1.754         0              0              0
  34  Shelf           -0.327         0.225          -1.754         0              0              0
  35  Shelf           -0.439         0.822          -1.754         0              0              0
  36  Shelf           -0.619         0.981          -1.754         0              0              0
  37  Shelf           -0.439         0.556          -1.754         0              0              0
  38  Shelf           -0.709         0.225          -1.754         0              0              0
  39  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  40  Stool           0.799          0.004          -2.105         0              0              0
  41  Blinds          0.542          2.135          -2.553         0              0              0
  42  Blinds          -1.645         2.145          -0.546         0              90             0
  43  Drawer          2.518          0.574          0.623          0              270            0
  44  Drawer          2.517          0.411          0.623          0              270            0
  45  Drawer          2.518          0.732          0.623          0              270            0
  46  Drawer          2.518          0.732          -0.119         0              270            0
  47  Drawer          2.517          0.411          -0.119         0              270            0
  48  Drawer          2.517          0.247          -0.119         0              270            0
  49  Drawer          2.517          0.090          0.623          0              270            0
  50  Drawer          2.517          0.247          0.623          0              270            0
  51  Dresser         2.555          0.003          0.252          0              270            0
  52  Drawer          2.518          0.574          -0.119         0              270            0
  53  Drawer          2.517          0.090          -0.119         0              270            0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left, go across room.  Turn left and go to shelf. | STEP 2: Pick up pencil from bottom center shelf. | STEP 3: Go left until reach end of bed, turn left, proceed to wall.  Turn right to go to wall, turn right to face dresser. | STEP 4: Turn on lamp on left side of dresser. | END