Task: Hold a pencil and turn on the lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.901          0.25           0              270            0
   1  Pencil          -1.787         0.069          1.448          0              270            0              34
   2  KeyChain        1.679          0.711          0.990          0              270            0              40
   3  Laptop          -0.344         0.538          -0.830         0              0              0              21
   4  Laptop          -0.583         0.538          -0.408         0              0              0              21
   5  AlarmClock      0.363          0.684          -1.747         0              0              0              29
   6  AlarmClock      1.408          0.711          0.409          0              270            0              40
   7  Book            -1.062         0.540          -0.690         0              0              0              21
   8  AlarmClock      1.408          0.711          0.796          0              270            0              40
   9  BasketBall      1.510          0.120          -0.105         0              0              0
  10  TeddyBear       -1.7           0.475          -0.331         0              225            0              21
  11  TennisRacket    1.551          0.000          0.654          270            336.082        0
  12  Pen             -1.814         1.077          1.067          0              270            0              36
  13  Pencil          0.789          0.688          -1.705         0              0              0              29
  14  KeyChain        -1.695         0.640          0.135          0              180            0              37
  15  CreditCard      -1.906         1.071          1.067          0              270            0              36
  16  Laptop          -1.749         0.671          0.919          0              0              0              37
  17  CellPhone       -1.541         0.541          -0.971         0              0              0              21
  18  Pillow          -1.757         0.569          -0.768         0              285.000        0              21
  19  CD              1.744          0.049          1.674          0              270            0              24
  20  Curtains        1.865          2.039          -0.495         0              0              0
  21  Bed             -1.037         0.009          -0.690         0              270            0
  22  Mirror          0.549          1.494          1.880          0              0              0
  23  Curtains        0.486          2.035          -1.853         0              90             0
  24  GarbageCan      1.683          -0.018         1.670          0              270            0
  25  LightSwitch     -0.119         1.317          1.853          0              180            0
  26  DeskLamp        -1.845         1.057          0.756          0              0              0
  27  Window          1.932          1.409          -0.507         90             270            0
  28  Window          0.481          1.411          -1.932         90             0              0
  29  SideTable       0.626          0.0            -1.705         0              0              0
  30  Footstool       0.176          0.006          -0.358         0              0              0
  31  Dumbbell        1.596          0.715          0.772          0              0              0
  32  Dumbbell        1.776          0.717          0.772          0              0              0
  33  Shelf           -1.700         0.573          1.540          0              90             0
  34  Shelf           -1.700         0.156          1.540          0              90             0
  35  Shelf           -1.700         0.377          1.540          0              90             0
  36  Shelf           -1.839         1.084          1.235          0              90             0
  37  Desk            -1.722         0.003          0.920          0              90             0
  38  Footstool       0.175          0.004          -0.652         0              0              0
  39  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  40  Desk            1.519          1.823          0.385          0              270            0
  41  Chair           -1.459         0.003          0.929          0              292.527        0
  42  NorthWall
  43  EastWall
  44  WestWall

Plan:
STEP 1: Turn around and then right to find the brown dresser. | STEP 2: Pick up the pencil from on top of the brown dresser. | STEP 3: Carry the pencil and turn around and then left to the large desk. | STEP 4: Hold the pencil and turn on the lamp. | END