Task: Pick up a pencil and turn 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           -0.75          0.900          1.0            0              0              0
   1  Bowl            -1.283         1.460          -1.431         0              0              0              32
   2  CD              0.323          0.673          -1.781         0              0              0              47
   3  CellPhone       1.588          0.041          0.434          0              0              0              44
   4  Pencil          0.459          0.680          -1.537         0              0              0              47
   5  Pencil          -0.523         0.796          -1.568         0              0              0              48
   6  Pen             -0.670         0.798          -1.504         0              0              0              48
   7  CreditCard      0.416          0.480          -1.561         0              0              0              46
   8  CreditCard      -0.376         0.793          -1.504         0              0              0              48
   9  KeyChain        0.305          0.681          1.257          0              0              0              40
  10  Book            1.676          0.578          -0.166         0              0              0              49
  11  Book            1.676          0.578          -1.373         0              0              0              49
  12  AlarmClock      -1.052         0.794          -0.385         0              0              0              48
  13  Laptop          1.098          0.574          -0.649         0              0              0              49
  14  Book            -1.259         0.794          -1.696         0              90             0              48
  15  Pencil          0.459          0.677          -1.684         0              0              0              47
  16  Laptop          1.098          0.574          -1.132         0              0              0              49
  17  Pen             -0.585         0.842          -2.141         0              0              0              31
  18  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  19  TeddyBear       1.629          0.557          -1.064         0              118.287        0              49
  20  Pillow          1.215          0.641          -1.663         0              0              0              27
  21  CellPhone       0.550          0.675          -1.635         0              0              0              47
  22  KeyChain        -1.052         0.793          -0.600         0              0              0              48
  23  AlarmClock      -0.964         0.794          -1.568         0              0              0              48
  24  CreditCard      -0.817         0.793          -1.440         0              0              0              48
  25  CD              -1.309         1.822          -0.690         0              0              0              34
  26  Bowl            -0.450         0.838          -2.003         0              0              0              31
  27  Bed             1.242          -0.001         -0.881         0              180            0
  28  LightSwitch     0.010          1.315          1.499          0              180            0
  29  GarbageCan      0.840          0.007          1.337          0              180            2.168
  30  HousePlant      -0.083         0.828          -2.045         0              0              0
  31  Shelf           -0.469         0.828          -2.038         0              0              0
  32  Shelf           -1.286         1.451          -1.343         0              0              0
  33  Shelf           -1.286         1.451          -0.602         0              0              0
  34  Shelf           -1.286         1.814          -0.602         0              0              0
  35  Shelf           -1.286         1.814          -1.343         0              0              0
  36  Painting        1.111          1.628          -1.865         90             0              0
  37  DeskLamp        0.473          0.669          1.350          0              0              0
  38  Mirror          -1.383         1.565          0.512          0              270            0
  39  Window          -0.472         1.396          -2.252         90             0              0
  40  SideTable       0.304          -0.001         1.225          0              180            0
  41  Drawer          0.304          0.165          1.159          0              180            0
  42  Drawer          0.304          0.457          1.159          0              180            0
  43  Blinds          -0.453         2.156          -2.242         0              0              0
  44  Safe            1.623          5.960          0.448          0              270            0
  45  Chair           -0.683         0.000          -1.326         0              217.223        0
  46  Drawer          0.416          0.532          -1.553         0              0              0
  47  SideTable       0.413          0.000          -1.684         0              0              0
  48  Desk            -0.788         0.000          -1.032         0              90             0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Go to the study desk | STEP 2: Pick up a pencil from the desk | STEP 3: Go to the lamp table | STEP 4: Turn on the lamp | END