Task: Turning on the 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           0.900          -1.0           0              90             0
   1  CD              0.486          0.480          -1.561         0              0              0              41
   2  CellPhone       1.588          0.041          0.488          0              0              0              39
   3  Pencil          -1.283         1.826          -1.168         0              0              0              30
   4  Pencil          0.227          0.684          1.212          0              0              0              35
   5  Pen             -0.045         0.842          -2.003         0              90             0              26
   6  Pen             -0.670         0.798          -1.760         0              0              0              43
   7  Book            1.532          0.578          -1.373         0              0              0              44
   8  Book            -1.123         0.794          -0.600         0              0              0              43
   9  Book            0.459          0.678          -1.684         0              0              0              42
  10  Pencil          -0.817         0.796          -1.632         0              0              0              43
  11  Laptop          -1.005         0.780          -1.477         0              31.363         0              43
  12  Pen             -0.964         0.798          -1.760         0              90             0              43
  13  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  14  TeddyBear       1.629          0.557          -1.064         0              118.287        0              44
  15  Pillow          1.243          0.666          -0.166         0              0              0              44
  16  CellPhone       1.745          0.041          0.328          0              0              0              39
  17  KeyChain        -1.283         1.459          -1.080         0              0              0              27
  18  AlarmClock      -1.259         0.794          -1.760         0              0              0              43
  19  CreditCard      0.277          0.673          -1.537         0              0              0              42
  20  CD              0.368          0.673          -1.684         0              0              0              42
  21  Bowl            -0.585         0.838          -2.003         0              0              0              26
  22  Bed             1.242          -0.001         -0.881         0              180            0
  23  LightSwitch     0.010          1.315          1.499          0              180            0
  24  GarbageCan      0.840          0.007          1.337          0              180            2.168
  25  HousePlant      -0.083         0.828          -2.045         0              0              0
  26  Shelf           -0.469         0.828          -2.038         0              0              0
  27  Shelf           -1.286         1.451          -1.343         0              0              0
  28  Shelf           -1.286         1.451          -0.602         0              0              0
  29  Shelf           -1.286         1.814          -0.602         0              0              0
  30  Shelf           -1.286         1.814          -1.343         0              0              0
  31  Painting        1.111          1.628          -1.865         90             0              0
  32  DeskLamp        0.473          0.669          1.350          0              0              0
  33  Mirror          -1.383         1.565          0.512          0              270            0
  34  Window          -0.472         1.396          -2.252         90             0              0
  35  SideTable       0.304          -0.001         1.225          0              180            0
  36  Drawer          0.304          0.165          1.159          0              180            0
  37  Drawer          0.304          0.457          1.159          0              180            0
  38  Blinds          -0.453         2.156          -2.242         0              0              0
  39  Safe            1.623          5.960          0.448          0              270            0
  40  Chair           -0.683         0.000          -1.326         0              217.223        0
  41  Drawer          0.416          0.532          -1.553         0              0              0
  42  SideTable       0.413          0.000          -1.684         0              0              0
  43  Desk            -0.788         0.000          -1.032         0              90             0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn left and go to the nightstand | STEP 2: Grab the pencil off of the nightstand | STEP 3: Move slightly to the right | STEP 4: Turn the lamp that's on the table on | END