Task: Put a pencil on the lamp table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.901          1.5            0              90             0
   1  CD              2.524          0.448          -0.456         0              119.999        0              51
   2  CellPhone       2.82           0.988          1.008          0              180            0              38
   3  CellPhone       2.753          0.449          -0.588         0              119.999        0              51
   4  Pen             2.644          0.990          1.860          0              180            0              38
   5  Pen             -1.603         0.668          1.401          0              0              0              50
   6  CreditCard      2.408          0.449          -1.052         0              119.999        0              51
   7  CreditCard      2.557          0.985          0.439          0              180            0              38
   8  KeyChain        -1.603         0.664          1.556          0              90             0              50
   9  KeyChain        2.237          0.451          -0.953         0              119.999        0              51
  10  Book            2.495          0.448          -0.770         0              119.999        0              51
  11  AlarmClock      2.819          0.987          1.576          0              180            0              38
  12  Laptop          -0.448         0.691          0.559          0              0              0              30
  13  Laptop          -0.984         0.691          -0.109         0              0              0              30
  14  Book            -0.181         0.693          -0.555         0              0              0              30
  15  KeyChain        2.557          0.989          1.576          0              180            0              38
  16  Laptop          0.086          0.691          -0.109         0              0              0              30
  17  Cloth           1.763          0.000          -1.732         0              70.590         0
  18  CreditCard      2.995          0.985          1.008          0              180            0              38
  19  Pen             2.995          0.993          1.576          0              180            0              38
  20  Pencil          2.907          0.992          0.155          0              180            0              38
  21  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  22  AlarmClock      2.907          0.987          1.292          0              180            0              38
  23  BaseballBat     0.808          0.05           2.151          0              0              270
  24  Pillow          -1.373         0.754          -0.204         0              255.000        0              30
  25  Pillow          0.086          0.779          0.782          0              0              0              30
  26  CellPhone       2.575          0.886          0.645          0              180            0              38
  27  CD              2.907          0.987          0.723          0              180            0              38
  28  Mug             -1.514         0.661          1.711          0              0              0              50
  29  Curtains        -0.020         2.923          -1.853         0              0              0
  30  Bed             -0.750         -0.018         0.113          1.247          270            0
  31  LightSwitch     1.317          1.297          2.197          0              180            0
  32  DeskLamp        -1.618         0.669          1.486          0              0              0
  33  DeskLamp        -1.631         0.669          -1.308         0              0              0
  34  Painting        1.524          1.516          -1.853         90             0              0
  35  GarbageCan      1.352          0.000          -1.685         0              0              0
  36  Mirror          0.575          1.351          2.197          0              0              0
  37  Window          -0.013         1.687          -1.919         90             0              0
  38  Dresser         2.819          0.000          1.008          0              270            0
  39  Drawer          2.572          0.901          1.784          0              270            0
  40  Cabinet         2.484          0.499          1.014          0              270            0
  41  Cabinet         2.484          0.499          0.999          0              270            0
  42  Drawer          2.572          0.901          1.263          0              270            0
  43  Drawer          2.572          0.901          0.748          0              270            0
  44  Cabinet         2.484          0.499          -0.019         0              270            0
  45  Drawer          2.572          0.901          0.230          0              270            0
  46  Cabinet         2.484          0.499          2.033          0              270            0
  47  Drawer          -1.533         0.459          1.478          0              90             0
  48  SideTable       -1.599         0.001          -1.249         0              90             0
  49  Drawer          -1.533         0.459          -1.250         0              90             0
  50  SideTable       -1.599         0.001          1.479          0              90             0
  51  ArmChair        2.574          0.002          -0.817         0              299.998        0
  52  Shelf           -1.552         0.040          -1.400         0              90             0
  53  Shelf           -1.552         0.040          -1.133         0              90             0
  54  Shelf           -1.552         0.040          1.328          0              90             0
  55  Shelf           -1.552         0.040          1.595          0              90             0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn right, walk halfway across the room, turn left, and walk to the counter. | STEP 2: Pick up the pencil. | STEP 3: Turn around and walk across the room to the lamp table. | STEP 4: Put the pencil on the lamp table. | END