Task: Turn on the lamp while holding the pencil.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.5            0              0              0
   1  CellPhone       2.878          0.778          -0.906         0              180            0              32
   2  CellPhone       2.603          0.778          -0.608         0              180            0              39
   3  Pen             -0.252         0.906          -1.680         0              0              0              22
   4  Pencil          2.359          0.526          1.272          0              180            0              34
   5  CreditCard      -1.122         0.895          -1.680         0              0              0              22
   6  CreditCard      2.514          0.524          1.151          0              180            0              34
   7  Book            3.152          0.777          -0.608         0              180            0              32
   8  Book            -0.956         0.651          -1.381         0              0              0              40
   9  AlarmClock      -0.426         0.902          -1.588         0              0              0              22
  10  AlarmClock      0.784          0.943          -1.854         0              0              0              28
  11  Book            2.878          0.777          -1.354         0              180            0              32
  12  Pen             -1.122         0.906          -1.217         0              0              0              22
  13  AlarmClock      0.430          0.943          -1.854         0              0              0              28
  14  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        39
  15  CellPhone       -1.106         0.376          -1.431         0              0              0              23
  16  Pencil          -1.106         0.654          -1.330         0              0              0              25
  17  Pillow          3.173          0.804          -0.932         0              0              0              39
  18  Laptop          -0.795         0.893          -1.384         0              0              0              22
  19  KeyChain        2.514          0.523          1.312          0              180            0              34
  20  CreditCard      0.961          0.941          -1.937         0              0              0              28
  21  CD              3.386          0.161          -0.065         0              270            0              30
  22  Desk            -0.503         0.006          -1.465         0              0              0
  23  Drawer          -0.945         0.493          -1.176         0              0              0
  24  Drawer          -0.946         0.212          -1.176         0              0              0
  25  Drawer          -0.944         0.739          -1.176         0              0              0
  26  DeskLamp        -0.124         0.899          -1.731         0              0              0
  27  LightSwitch     3.513          1.253          0.165          0              270            0
  28  Shelf           0.759          0.934          -1.909         0              0              0
  29  Mirror          2.407          1.294          1.401          0              0              0
  30  GarbageCan      3.347          -0.000         -0.027         0              270            0
  31  Window          0.717          1.603          -2.108         90             0              0
  32  Bed             2.301          0.005          -1.056         0              270            0
  33  Blinds          0.749          2.523          -2.022         0              0              0
  34  SideTable       2.436          0.002          1.143          0              180            0
  35  Drawer          2.437          0.122          1.154          0              180            0
  36  Drawer          2.437          0.350          1.153          0              180            0
  37  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  38  Chair           -0.308         0.009          -1.108         0              166.824        0
  39
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn right then turn left to face the desk. | STEP 2: Grab the blue pencil off of the desk. | STEP 3: Turn left a ways, then left again and turn right to face the desk. | STEP 4: Turn on the lamp. | END