Task: Turn the light on with a pencil in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.937          -1.5           0              90             0
   1  CD              1.657          0.552          2.612          0              0              0              50
   2  CellPhone       -1.337         0.587          -2.882         0              0              0              26
   3  CellPhone       1.657          0.557          2.468          0              0              0              50
   4  Pen             -1.227         1.121          -3.073         0              0              0              30
   5  Pencil          1.854          0.557          2.181          0              0              0              50
   6  CreditCard      -3.519         0.307          3.153          0              149.999        0              49
   7  CreditCard      1.537          0.552          2.243          0              90             0              50
   8  AlarmClock      -0.602         1.118          -3.158         0              0              0              30
   9  Book            -0.365         0.082          -2.830         0              0              0              29
  10  AlarmClock      -1.539         1.118          -3.073         0              0              0              30
  11  CellPhone       -0.276         0.587          -2.934         0              0              0              25
  12  Pillow          1.785          0.87           0.309          0              270            0              23
  13  Pillow          0.673          0.940          1.456          0              0              0              23
  14  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  15  CreditCard      -0.187         0.584          -2.726         0              0              0              25
  16  KeyChain        -0.454         0.585          -2.934         0              0              0              25
  17  Pencil          -0.098         0.587          -2.830         0              0              0              25
  18  Laptop          0.389          0.830          0.735          0              0              0              23
  19  RemoteControl   -1.227         1.118          -2.817         0              0              0              30
  20  CD              1.805          0.552          2.612          0              0              0              50
  21  Pen             -1.539         1.121          -2.732         0              0              0              30
  22  Mug             -0.289         1.114          -2.902         0              90             0              30
  23  Bed             0.967          0.049          0.667          0              90             0
  24  Cabinet         -3.0           1.497          -2.643         0              0              0
  25  Drawer          -0.365         0.785          -2.848         0              0              0
  26  Drawer          -1.159         0.785          -2.848         0              0              0
  27  Cabinet         2.064          1.497          -2.643         0              0              0
  28  Drawer          -1.159         0.285          -2.848         0              0              0
  29  Drawer          -0.365         0.285          -2.848         0              0              0
  30  Desk            -1.271         1.169          -2.987         0              0              0
  31  LightSwitch     -0.159         1.281          3.999          0              180            0
  32  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  33  HousePlant      -0.195         1.105          -3.084         0              0              0
  34  DeskLamp        1.863          0.581          2.431          0              0              0
  35  Mirror          -1.603         1.447          3.999          0              0              0
  36  Television      -3.883         1.771          2.122          0              90             0
  37  Window          -1.952         2.148          -3.302         90             180            0
  38  Window          -0.467         2.148          -3.302         90             180            0
  39  Window          -3.894         1.751          0.582          90             270            0
  40  Window          -3.894         1.751          -0.675         90             270            0
  41  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  42  ArmChair        -0.948         0.051          3.583          0              175.988        0
  43  ArmChair        -2.172         0.051          3.598          0              180            0
  44  Blinds          -0.477         2.785          -3.253         0              0              0
  45  Blinds          -1.957         2.785          -3.253         0              0              0
  46  Blinds          -3.799         2.506          0.602          0              90             0
  47  Blinds          -3.799         2.506          -0.647         0              90             0
  48  Safe            1.673          0.054          -3.004         0              0              0
  49  ArmChair        -3.349         0.051          3.375          0              150.096        0
  50  SideTable       1.775          0.048          2.377          0              0              0
  51  Chair           -2.002         0.050          -2.532         0              165.000        0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: turn around walk past the bed, then turn right and stop at the bedside table | STEP 2: pick up the pencil from the table | STEP 3: turn to the right walk in between the bedside table and the laundry basket | STEP 4: turn the light on | END