That's pretty strange!
Lucid Dreaming occurs during the REM stage of sleep (when there is sleep paralysis), sleepwalking usually occurs in our Slow-Wave state of sleep.
SP occurs during REM as a defense mechanism so you don't go running around acting out your LD. In fact, there are studies of people lacking the SP mechanism -- a former football player who broke a bunch of bones dreaming about playing football, tackling his dresser and wreaking havoc upon his room.
So logically, there's no way you could pick up a pencil during a lucid dream. It may have been a result of the feelings and ideas you had during your LD transfering over to slow-wave sleep, which in result you unconsciously picked up a pencil or other items. That's my theory, at least. I don't think it's harmful as long as you don't actually pick up an item that can hurt you or someone else.
If you want to stop this, i suggest self-talking before going to bed. Just remember not to talk in the negative -- saying "i will not pick up a dangerous item" actually makes it more likely that you will. Instead, say something like "i will stay safe and avoid sleepwalking or picking up objects during sleep."
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