Task: To turn on the lamp and pick a pencil up

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.937          2.0            0              0              0
   1  CellPhone       0.958          0.836          0.015          0              0              0              27
   2  CellPhone       1.755          0.556          2.253          0              0              0              54
   3  Pen             -0.187         0.090          -2.778         0              0              0              33
   4  Pen             1.657          0.559          2.612          0              0              0              54
   5  Pen             1.755          0.558          2.181          0              0              0              54
   6  Pencil          -3.292         0.377          -2.777         0              4.809          0              36
   7  CreditCard      -0.914         1.116          -2.902         0              0              0              34
   8  Book            -2.685         0.082          -3.135         0              0              0              28
   9  Book            -1.16          0.082          -2.830         0              0              0              32
  10  KeyChain        -1.178         0.307          3.562          0              175.771        0              46
  11  RemoteControl   -0.276         0.087          -2.934         0              0              0              33
  12  RemoteControl   -1.16          0.587          -2.934         0              0              0              30
  13  Book            -2.170         0.190          3.413          0              180            0              47
  14  AlarmClock      -0.602         1.118          -2.988         0              0              0              34
  15  CellPhone       1.828          0.097          -2.893         0              90             0              52
  16  Pillow          1.528          0.940          1.456          0              0              0              27
  17  Pillow          1.815          0.87           1.153          0              270            0              27
  18  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  19  CreditCard      1.657          0.553          2.181          0              0              0              54
  20  KeyChain        -1.191         0.191          3.742          0              265.771        0              46
  21  Pencil          -1.337         0.586          -2.830         0              0              0              30
  22  Laptop          1.813          0.830          0.495          0              0              0              27
  23  RemoteControl   1.681          0.548          2.440          0              90             0              54
  24  CD              1.722          0.093          -3.154         0              90             0              52
  25  Pen             -0.982         0.088          -2.778         0              0              0              32
  26  Mug             -0.289         1.114          -2.902         0              90             0              34
  27  Bed             0.967          0.049          0.667          0              90             0
  28  Cabinet         -3.0           1.497          -2.643         0              0              0
  29  Drawer          -0.365         0.785          -2.848         0              0              0
  30  Drawer          -1.159         0.785          -2.848         0              0              0
  31  Cabinet         2.064          1.497          -2.643         0              0              0
  32  Drawer          -1.159         0.285          -2.848         0              0              0
  33  Drawer          -0.365         0.285          -2.848         0              0              0
  34  Desk            -1.271         1.169          -2.987         0              0              0
  35  LightSwitch     -0.159         1.281          3.999          0              180            0
  36  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  37  HousePlant      -0.195         1.105          -3.084         0              0              0
  38  DeskLamp        1.863          0.581          2.431          0              0              0
  39  Mirror          -1.603         1.447          3.999          0              0              0
  40  Television      -3.883         1.771          2.122          0              90             0
  41  Window          -1.952         2.148          -3.302         90             180            0
  42  Window          -0.467         2.148          -3.302         90             180            0
  43  Window          -3.894         1.751          0.582          90             270            0
  44  Window          -3.894         1.751          -0.675         90             270            0
  45  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  46  ArmChair        -0.948         0.051          3.583          0              175.988        0
  47  ArmChair        -2.172         0.051          3.598          0              180            0
  48  Blinds          -0.477         2.785          -3.253         0              0              0
  49  Blinds          -1.957         2.785          -3.253         0              0              0
  50  Blinds          -3.799         2.506          0.602          0              90             0
  51  Blinds          -3.799         2.506          -0.647         0              90             0
  52  Safe            1.673          0.054          -3.004         0              0              0
  53  ArmChair        -3.349         0.051          3.375          0              150.096        0
  54  SideTable       1.775          0.048          2.377          0              0              0
  55  Chair           -2.002         0.050          -2.532         0              165.000        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Take a step forward, turn right, go across the room, and turn right to face the lamp on a stool | STEP 2: Turn on the lamp | STEP 3: Pick up the pencil from the stool | END