Task: To take the pencil off the desk and turn on the lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.25           0              180            0
   1  CD              -0.252         0.895          -1.588         0              0              0              23
   2  CD              -0.881         0.650          -1.482         0              0              0              26
   3  CellPhone       -0.774         0.902          -1.680         0              0              0              23
   4  Pen             2.514          0.528          1.231          0              180            0              35
   5  Pencil          3.386          0.165          -0.065         0              270            0              31
   6  Pencil          -0.426         0.904          -1.680         0              0              0              23
   7  Pencil          -0.426         0.899          -1.495         0              0              0              23
   8  CreditCard      -1.031         0.374          -1.431         0              0              0              24
   9  KeyChain        2.282          0.523          1.352          0              270            0              35
  10  AlarmClock      0.784          0.943          -1.854         0              0              0              29
  11  AlarmClock      0.961          0.943          -1.91          0              0              0              29
  12  Book            -0.078         0.893          -1.588         0              0              0              23
  13  Pen             -1.031         0.656          -1.381         0              0              0              26
  14  AlarmClock      2.591          0.526          1.151          0              180            0              35
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  16  CellPhone       2.329          0.778          -0.608         0              180            0              33
  17  Pencil          -1.106         0.378          -1.330         0              0              0              24
  18  Pillow          3.152          0.840          -1.354         0              180            0              40
  19  Laptop          -0.795         0.893          -1.384         0              0              0              23
  20  KeyChain        -0.078         0.896          -1.310         0              0              0              23
  21  CreditCard      2.205          0.523          1.231          0              180            0              35
  22  CD              -1.181         0.650          -1.431         0              0              0              26
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn right and walk to the wall. Turn left and walk up to the desk. | STEP 2: Pick up the pencil on the desk | STEP 3: Turn around to face the bed. Walk straight to the bed and turn right. Walk to the window and turn right to face the desk. | STEP 4: Turn on the lamp while facing the desk. | END