Task: Examine a pencil by the light of 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           -0.5           0.901          0.0            0              0              0
   1  Pen             -0.708         0.668          0.556          0              180            0              31
   2  Pen             -0.560         0.668          0.600          0              180            0              31
   3  Pen             -0.634         0.668          0.427          0              180            0              31
   4  KeyChain        0.287          0.693          -2.036         0              99.090         0              28
   5  AlarmClock      1.698          0.695          -1.774         0              18.354         0              28
   6  Box             -0.015         0.239          -2.091         0              0              0
   7  Book            -1.171         0.629          -1.297         0              0              0              19
   8  BaseballBat     1.798          0.639          0.425          0              0              342.316
   9  Pen             0.845          0.698          -2.055         0              90             0              28
  10  Pencil          -0.670         0.373          0.503          0              0              0              30
  11  KeyChain        0.109          0.694          -2.406         0              180            0              28
  12  Pillow          -1.696         0.703          -0.748         0              0              0              19
  13  CreditCard      -0.487         0.663          0.686          0              180            0              31
  14  CellPhone       -2.046         0.631          -1.023         0              0              0              19
  15  Laptop          -1.696         0.628          0.076          0              0              0              19
  16  CD              0.661          0.692          -2.055         0              90             0              28
  17  Bowl            1.029          0.695          -2.336         0              90             0              28
  18  AlarmClock      1.622          0.694          -1.409         0              0              0              28
  19  Bed             -1.696         0.004          -0.446         0              0              0
  20  Chair           0.956          -0.000         -1.747         0              110.225        0
  21  DeskLamp        -0.440         0.688          -2.276         0              0              0
  22  LightSwitch     0.625          1.338          0.734          0              180            0
  23  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  24  Mirror          1.300          1.422          0.765          0              0              0
  25  HousePlant      -0.867         0.000          -2.286         0              0              0
  26  Window          0.819          1.496          -2.553         90             180            0
  27  Shelf           1.616          0.561          -0.802         0              0              0
  28  Desk            0.617          -0.000         -1.511         0              0              0
  29  Blinds          0.796          2.217          -2.476         0              0              0
  30  Drawer          -0.558         0.456          0.462          0              180            0
  31  SideTable       -0.557         -0.000         0.529          0              180            0
  32  Drawer          -0.558         0.164          0.462          0              180            0
  33  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Turn around and move to the chair on your left | STEP 2: Pick up the pencil from the desk | STEP 3: Turn around and move to the lamp on your left | STEP 4: Turn the lamp on | END