Task: Pick up a pencil and turn a lamp on.

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            0.906          1.5            0              90             0
   1  Mug             -1.603         0.979          -1.606         0              0              0              39
   2  Mug             -1.198         0.980          -1.362         0              0              0              39
   3  KeyChain        -1.382         1.536          -1.593         0              90             0              41
   4  CD              -1.400         0.981          -1.362         0              0              0              39
   5  CD              -0.792         0.981          -1.200         0              0              0              39
   6  CellPhone       -1.708         0.896          2.039          0              0              0              33
   7  CellPhone       -1.500         0.740          -1.300         0              0              0              38
   8  Book            -1.326         0.099          -1.345         0              0              0              37
   9  Book            -0.387         0.982          -1.443         0              0              0              39
  10  Laptop          -1.026         0.894          1.160          0              0              0              33
  11  AlarmClock      -1.400         0.982          -1.606         0              0              0              39
  12  Book            -0.621         1.537          -1.632         0              0              0              41
  13  Box             1.563          0.286          -1.069         0              347.500        0
  14  BasketBall      -1.657         0.126          -0.090         0              0              0
  15  Pen             -1.326         0.427          -1.345         0              0              0              40
  16  Pencil          -0.811         1.539          -1.671         0              0              0              41
  17  Laptop          -1.435         0.894          1.746          0              0              0              33
  18  Pillow          -1.299         0.952          2.332          0              0              0              33
  19  KeyChain        -0.792         0.981          -1.606         0              180            0              39
  20  Bowl            -1.183         1.528          -1.590         0              0              0              41
  21  CreditCard      -0.811         1.536          -1.475         0              0              0              41
  22  CellPhone       -1.571         0.896          1.453          0              0              0              33
  23  CD              -1.603         0.982          -1.362         0              0              0              39
  24  AlarmClock      -1.001         1.537          -1.514         0              0              0              41
  25  Mug             -0.590         0.980          -1.606         0              0              0              39
  26  Statue          -0.792         0.988          -1.362         0              0              0              39
  27  Mirror          1.907          1.387          0.973          0              90             0
  28  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  29  DeskLamp        -0.343         1.545          -1.564         0              0              0
  30  GarbageCan      -0.035         0.007          -1.530         0              270            0
  31  Window          1.009          1.514          -2.089         90             0              0
  32  LightSwitch     0.397          1.197          2.729          0              180            0
  33  Bed             -1.299         1.937          1.441          0              0              0
  34  Blinds          1.064          2.382          -2.094         0              0              0
  35  Chair           0.884          0.012          -1.433         0              29.871         0
  36  Chair           -0.646         0.007          -1.206         0              195.000        0
  37  Drawer          -1.409         0.233          -1.303         0              0              0
  38  Drawer          -1.407         0.847          -1.302         0              0              0
  39  Desk            -0.993         0.006          -1.410         0              0              0
  40  Drawer          -1.408         0.558          -1.302         0              0              0
  41  Shelf           0.003          0.013          0.035          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Cross the room to the right to stand in front of the desk. | STEP 2: Pick the pencil up from the top of the desk. | STEP 3: Turn left and stand at the left side of the desk facing the lamp on the top. | STEP 4: Turn the lamp on. | END