Task: Hold 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           0.0            0.900          0.0            0              180            0
   1  Bowl            -1.834         1.727          0.366          0              0              0              45
   2  Bowl            -1.834         0.886          0.366          0              0              0              45
   3  Mug             -2.091         0.876          0.665          0              0              0              45
   4  CellPhone       -2.292         0.040          2.629          0              180            0              50
   5  Pen             -2.151         1.355          0.366          0              90             0              37
   6  Pencil          -0.567         0.861          -1.010         0              0              0              35
   7  CreditCard      -0.586         0.649          -0.932         0              0              0              33
   8  CreditCard      -1.224         0.878          0.832          0              0              0              45
   9  KeyChain        -2.083         0.039          2.522          0              180            0              50
  10  Book            -1.914         0.386          0.721          0              0              0              47
  11  Pillow          1.003          0.918          1.076          0              0              0              26
  12  Book            -2.074         0.104          0.721          0              0              0              48
  13  AlarmClock      -0.819         0.858          -1.356         0              0              0              35
  14  BasketBall      1.976          0.120          0.211          0              331.076        0
  15  Pen             -2.091         0.884          0.581          0              0              0              45
  16  Laptop          -1.783         0.871          0.732          0              0              0              45
  17  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  18  Bowl            -0.827         0.850          -1.641         0              0              0              35
  19  Pillow          1.409          0.918          0.787          0              0              0              26
  20  KeyChain        -2.045         1.349          0.448          0              0              0              37
  21  CreditCard      -2.155         0.668          0.683          0              0              0              46
  22  CellPhone       -2.235         0.387          0.721          0              0              0              47
  23  CD              -1.995         0.667          0.796          0              0              0              46
  24  Pencil          -0.511         0.368          -1.013         0              0              0              36
  25  Mug             -1.179         1.721          0.407          0              0              0              39
  26  Bed             1.227          -0.002         1.664          0              0              0
  27  LightSwitch     2.151          1.233          -0.518         0              270            0
  28  GarbageCan      -0.747         0.014          -0.327         0              0              0
  29  Mirror          -1.358         1.427          2.855          0              0              0
  30  DeskLamp        -2.296         0.858          0.750          0              0              0
  31  Window          -0.421         1.534          -1.947         90             0              0
  32  Window          0.579          1.534          -1.947         90             0              0
  33  Drawer          -0.491         0.739          -0.855         0              90             0
  34  Drawer          -0.491         0.204          -0.855         0              90             0
  35  Desk            -0.639         0.009          -1.187         0              90             0
  36  Drawer          -0.491         0.487          -0.855         0              90             0
  37  Shelf           -1.965         1.514          0.416          0              0              0
  38  Shelf           -1.965         1.092          0.416          0              0              0
  39  Shelf           -1.312         1.888          0.416          0              0              0
  40  Shelf           -1.965         1.888          0.416          0              0              0
  41  Shelf           -1.312         1.092          0.416          0              0              0
  42  Shelf           -1.312         1.514          0.416          0              0              0
  43  Blinds          0.601          2.161          -1.916         0              0              0
  44  Blinds          -0.402         2.161          -1.916         0              0              0
  45  Desk            -1.726         0.001          0.575          0              0              0
  46  Drawer          -2.058         0.733          0.734          0              0              0
  47  Drawer          -2.058         0.482          0.734          0              0              0
  48  Drawer          -2.058         0.198          0.735          0              0              0
  49  Chair           -0.137         0.000          -1.587         0              315            0
  50  Safe            -2.183         -7.748         2.576          0              180            0
  51  Chair           -1.433         0.009          0.780          357.672        206.726        0
  52  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Move a step forward, and face to the desk on the right. | STEP 2: Pick up the pencil from the center of the desk. | STEP 3: Carry the pencil and turn to the right. Move forward and then turn left and face the desk on the left. | STEP 4: Hold the pencil and turn on the lamp on the right side of the desk. | END