Task: Carry a pencil while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.25           0.900          0.75           0              0              0
   1  CD              2.359          0.522          1.312          0              180            0              33
   2  CellPhone       0.784          0.943          -1.91          0              0              0              27
   3  CellPhone       -0.078         0.902          -1.403         0              0              0              21
   4  Pen             -1.106         0.656          -1.381         0              0              0              24
   5  CreditCard      2.282          0.523          1.191          0              180            0              33
   6  CreditCard      -0.731         0.374          -1.228         0              0              0              22
   7  KeyChain        0.961          0.941          -1.826         0              0              0              27
   8  Book            -1.122         0.901          -1.403         0              0              0              21
   9  Pillow          2.878          0.840          -1.354         0              180            0              31
  10  Book            2.329          0.777          -0.608         0              180            0              31
  11  Pen             -0.774         0.901          -1.310         0              0              0              21
  12  AlarmClock      -0.252         0.897          -1.773         0              0              0              21
  13  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        38
  14  CellPhone       2.359          0.526          1.272          0              180            0              33
  15  Pencil          0.607          0.945          -1.854         0              0              0              27
  16  Pillow          3.173          0.804          -0.932         0              0              0              38
  17  Laptop          2.329          0.774          -1.056         0              180            0              31
  18  KeyChain        0.784          0.941          -1.826         0              0              0              27
  19  CreditCard      2.514          0.524          1.151          0              180            0              33
  20  CD              0.430          0.941          -1.937         0              0              0              27
  21  Desk            -0.503         0.006          -1.465         0              0              0
  22  Drawer          -0.945         0.493          -1.176         0              0              0
  23  Drawer          -0.946         0.212          -1.176         0              0              0
  24  Drawer          -0.944         0.739          -1.176         0              0              0
  25  DeskLamp        -0.124         0.899          -1.731         0              0              0
  26  LightSwitch     3.513          1.253          0.165          0              270            0
  27  Shelf           0.759          0.934          -1.909         0              0              0
  28  Mirror          2.407          1.294          1.401          0              0              0
  29  GarbageCan      3.347          -0.000         -0.027         0              270            0
  30  Window          0.717          1.603          -2.108         90             0              0
  31  Bed             2.301          0.005          -1.056         0              270            0
  32  Blinds          0.749          2.523          -2.022         0              0              0
  33  SideTable       2.436          0.002          1.143          0              180            0
  34  Drawer          2.437          0.122          1.154          0              180            0
  35  Drawer          2.437          0.350          1.153          0              180            0
  36  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  37  Chair           -0.308         0.009          -1.108         0              166.824        0
  38
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move left then turn left again to the counter along the window ledge | STEP 2: Pick up the blue pencil on the edge of the black ledge | STEP 3: Carry the pencil to your left facing the lamp on top of the desk | STEP 4: Turn on the lamp | END