Task: Turn on a lamp, pick up a pencil.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          -1.0           0              90             0
   1  Mug             2.904          0.796          -1.420         0              0              0              38
   2  TissueBox       1.909          0.800          -1.482         0              0              0              38
   3  Pencil          2.931          0.551          -1.508         0              0              0              37
   4  Pencil          2.705          0.803          -1.358         0              0              0              38
   5  Pencil          2.506          0.803          -1.605         0              0              0              38
   6  CreditCard      1.240          0.515          -1.631         0              0              0              40
   7  CreditCard      3.210          0.545          -1.486         0              0              0              37
   8  KeyChain        1.352          0.284          -1.593         0              270            0              39
   9  KeyChain        1.239          0.519          -1.793         0              180            0              40
  10  Laptop          0.390          0.568          -0.236         0              0              0              25
  11  Book            0.715          0.569          -1.129         0              0              0              25
  12  KeyChain        1.127          0.060          -1.593         0              270            0              41
  13  TissueBox       2.307          0.800          -1.605         0              0              0              38
  14  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          25
  15  Pencil          3.103          0.803          -1.482         0              180            0              38
  16  CreditCard      1.240          0.059          -1.614         0              180            0              41
  17  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  18  Laptop          0.227          0.568          -0.905         0              0              0              25
  19  AlarmClock      1.108          0.510          -1.673         0              345.197        0              40
  20  Pen             1.394          0.521          -1.752         0              0              0              40
  21  Pillow          0.299          0.643          -1.557         0              0              0              25
  22  CellPhone       0.552          0.570          -0.682         0              0              0              25
  23  CD              1.352          0.058          -1.635         0              180            0              41
  24  Mug             1.909          0.796          -1.358         0              0              0              38
  25  Bed             0.227          -0.003         -0.947         0              180            0
  26  Mirror          0.615          1.264          1.029          0              0              0
  27  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  28  DeskLamp        3.164          0.794          -1.664         0              315            0
  29  HousePlant      -0.833         0.000          0.843          0              0              0
  30  LightSwitch     2.010          1.126          1.029          0              180            0
  31  Window          1.794          1.677          -1.939         90             180            0
  32  Window          0.691          1.361          -1.938         90             180            0
  33  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  34  Blinds          1.776          1.993          -1.858         0              0              0
  35  Blinds          0.670          1.993          -1.858         0              0              0
  36  Chair           2.255          0.004          -1.501         0              167.716        0
  37  Shelf           3.034          0.637          -1.580         0              0              0
  38  Desk            2.500          0.002          -1.596         0              0              0
  39  Drawer          1.240          0.354          -1.553         0              0              0
  40  SideTable       1.239          0.003          -1.551         0              0              0
  41  Drawer          1.240          0.126          -1.553         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn to your right and face the desk. | STEP 2: Turn on the lamp on the desk. | STEP 3: Pick up the pencil to the left of the black mug. | END