Task: Pick up a pencil and turn on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.0           0              0              0
   1  CD              1.716          0.049          1.738          0              270            0              24
   2  CellPhone       -1.815         0.676          0.919          0              0              0              37
   3  Pen             -1.814         1.077          1.067          0              270            0              36
   4  Pencil          1.228          0.715          0.990          0              270            0              40
   5  Pencil          1.228          0.715          0.796          0              270            0              40
   6  Book            1.498          0.711          0.990          0              270            0              40
   7  Book            -1.541         0.540          -0.830         0              0              0              21
   8  AlarmClock      1.318          0.711          0.215          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             1.228          0.717          0.602          0              270            0              40
  13  Pencil          -1.617         0.676          1.206          0              0              0              37
  14  KeyChain        -1.629         0.641          0.526          0              270            0              37
  15  CreditCard      1.498          0.711          0.022          0              270            0              40
  16  Laptop          -1.786         0.634          0.206          0              159.517        0              37
  17  CellPhone       -1.301         0.541          -0.408         0              0              0              21
  18  Pillow          -0.583         0.618          -0.830         0              0              0              21
  19  CD              -1.815         0.672          1.349          0              0              0              37
  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: Go to the study desk | STEP 2: Pick up a pencil from the study desk | STEP 3: Move to the lamp on top of the desk | STEP 4: Turn on the study desk lamp | END