Task: turn on a lamp while holding 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           -0.25          0.901          1.25           0              180            0
   1  CD              -1.814         1.071          1.492          0              270            0              40
   2  CD              1.679          0.711          -0.171         0              270            0              44
   3  CellPhone       -1.617         0.674          1.349          0              0              0              41
   4  Pen             -1.787         0.071          1.381          0              270            0              38
   5  CreditCard      -1.894         0.640          0.448          0              180            0              41
   6  KeyChain        -1.629         0.640          0.526          0              270            0              41
   7  Book            -1.681         0.506          1.515          0              270            0              37
   8  Pillow          -0.583         0.618          -0.830         0              0              0              25
   9  Laptop          -1.062         0.538          -0.830         0              0              0              25
  10  AlarmClock      1.318          0.711          0.215          0              270            0              44
  11  Book            -1.749         0.675          0.919          0              0              0              41
  12  AlarmClock      -1.875         1.071          1.067          0              270            0              40
  13  BasketBall      1.510          0.120          -0.105         0              0              0
  14  TeddyBear       -1.7           0.475          -0.331         0              225            0              25
  15  TennisRacket    1.551          0.000          0.654          270            336.082        0
  16  Pen             1.769          0.717          0.215          0              270            0              44
  17  Pencil          1.769          0.715          0.796          0              270            0              44
  18  KeyChain        1.498          0.711          0.796          0              270            0              44
  19  CreditCard      -1.840         0.065          1.715          0              270            0              39
  20  Laptop          -1.786         0.634          0.206          0              159.517        0              41
  21  CellPhone       0.222          0.685          -1.747         0              0              0              33
  22  Pillow          -1.757         0.569          -0.768         0              285.000        0              25
  23  CD              -1.628         0.506          1.715          0              270            0              37
  24  Curtains        1.865          2.039          -0.495         0              0              0
  25  Bed             -1.037         0.009          -0.690         0              270            0
  26  Mirror          0.549          1.494          1.880          0              0              0
  27  Curtains        0.486          2.035          -1.853         0              90             0
  28  GarbageCan      1.683          -0.018         1.670          0              270            0
  29  LightSwitch     -0.119         1.317          1.853          0              180            0
  30  DeskLamp        -1.845         1.057          0.756          0              0              0
  31  Window          1.932          1.409          -0.507         90             270            0
  32  Window          0.481          1.411          -1.932         90             0              0
  33  SideTable       0.626          0.0            -1.705         0              0              0
  34  Footstool       0.176          0.006          -0.358         0              0              0
  35  Dumbbell        1.596          0.715          0.772          0              0              0
  36  Dumbbell        1.776          0.717          0.772          0              0              0
  37  Shelf           -1.700         0.573          1.540          0              90             0
  38  Shelf           -1.700         0.156          1.540          0              90             0
  39  Shelf           -1.700         0.377          1.540          0              90             0
  40  Shelf           -1.839         1.084          1.235          0              90             0
  41  Desk            -1.722         0.003          0.920          0              90             0
  42  Footstool       0.175          0.004          -0.652         0              0              0
  43  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  44  Desk            1.519          1.823          0.385          0              270            0
  45  Chair           -1.459         0.003          0.929          0              292.527        0
  46  NorthWall
  47  EastWall
  48  WestWall

Plan:
STEP 1: walk over to the table on the left side of the room | STEP 2: grab the pencil off of the table there | STEP 3: turn around and walk over to the desk at the end of the room | STEP 4: turn on the lamp on top of the desk | END