Task: turn on desk lamp while holding pencil

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.901          -1.0           0              90             0
   1  Vase            1.981          0.978          -2.298         0              0              0              27
   2  CellPhone       -1.515         0.599          -0.250         0              0              0              47
   3  Pen             1.320          0.060          -2.261         0              0              0              56
   4  Pencil          -1.846         0.602          -0.392         0              0              0              47
   5  CreditCard      0.766          0.728          -2.647         0              180            0              40
   6  CreditCard      -1.846         0.599          -0.109         0              0              0              47
   7  KeyChain        -1.819         0.365          -1.040         0              270            0              50
   8  Laptop          -0.333         0.415          -1.733         0              0              0              46
   9  Box             1.996          0.316          -1.042         0              254.839        0
  10  Book            0.339          0.723          -2.65          0              165.000        0              40
  11  Pillow          -1.548         0.457          -1.831         0              90             0              46
  12  CellPhone       -0.564         0.417          -1.977         0              0              0              46
  13  Vase            -1.828         0.509          -1.232         0              0              0              49
  14  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  15  CreditCard      -1.864         0.508          -1.065         0              0              0              49
  16  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  17  KeyChain        -1.714         0.599          -0.533         0              0              0              47
  18  AlarmClock      0.076          0.730          -2.647         0              180            0              40
  19  Cloth           2.176          0.0            -0.571         0              335.474        0
  20  Laptop          -1.024         0.415          -2.100         0              0              0              46
  21  CD              0.735          0.724          -2.547         0              0              0              40
  22  CD              1.853          1.577          -2.319         0              0              0              31
  23  Pen             1.447          1.583          -2.256         0              0              0              30
  24  Pencil          -1.582         0.602          -0.533         0              0              0              47
  25  Mug             -1.582         0.597          -0.675         0              180            0              47
  26  Shelf           1.311          0.969          -2.298         0              0              0
  27  Shelf           1.843          0.969          -2.298         0              0              0
  28  Shelf           1.311          1.171          -2.298         0              0              0
  29  Shelf           1.843          1.171          -2.298         0              0              0
  30  Shelf           1.311          1.368          -2.298         0              0              0
  31  Shelf           1.843          1.570          -2.298         0              0              0
  32  Shelf           1.843          1.368          -2.298         0              0              0
  33  Shelf           1.311          1.570          -2.298         0              0              0
  34  DeskLamp        -1.848         0.592          -0.786         0              90             0
  35  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  36  LightSwitch     -0.638         1.149          0.499          0              180            0
  37  Poster          0.001          1.495          -2.642         90             90             0
  38  Mirror          -1.072         1.469          0.497          0              0              0
  39  Window          0.435          1.398          -2.855         90             0              0
  40  SideTable       0.435          0.036          -2.647         0              0              0
  41  Drawer          0.433          0.203          -2.445         0              0              0
  42  Drawer          0.433          0.505          -2.445         0              0              0
  43  Dumbbell        -1.656         0.602          -0.534         0              90             0
  44  Blinds          0.449          2.164          -2.845         0              0              0
  45  GarbageBag      1.730          0.318          0.222          270            90             83.412
  46  Bed             -1.047         -0.000         -1.851         0              270            0
  47  Desk            -1.710         0.000          -0.374         0              90             0
  48  Drawer          -1.790         0.245          -1.144         0              90             0
  49  SideTable       -1.824         0.000          -1.144         0              90             0
  50  Drawer          -1.790         0.392          -1.144         0              90             0
  51  Drawer          -1.790         0.097          -1.144         0              90             0
  52  Chair           -1.453         0.005          -0.311         0              286.095        0
  53  Shelf           1.591          0.606          -2.305         0              0              0
  54  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  55  Shelf           1.854          0.453          -2.298         0              0              0
  56  Shelf           1.321          0.155          -2.296         0              0              0
  57  Shelf           1.323          0.456          -2.300         0              0              0
  58  Shelf           1.852          0.152          -2.294         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: walk to face right side of desk | STEP 2: pick up white pencil under key set from desk top | STEP 3: walk to the left to face left side of desk | STEP 4: turn on desk lamp | END