Task: pick up a pencil and view it in the light of the 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            0.902          -1.5           0              180            0
   1  CD              2.641          0.821          0.623          0              270            0              55
   2  CD              2.507          0.190          -0.390         0              0              0              52
   3  CellPhone       0.553          0.832          -2.474         0              90             0              44
   4  CellPhone       2.703          0.819          -0.134         0              270            0              55
   5  Pen             2.703          0.825          0.433          0              270            0              55
   6  Pen             2.554          0.197          -0.215         0              0              0              52
   7  CreditCard      2.694          0.354          0.706          0              0              0              54
   8  CreditCard      2.517          0.819          0.812          0              270            0              55
   9  Book            -0.402         0.730          0.702          0              0              0              25
  10  Laptop          0.176          0.729          0.702          0              0              0              25
  11  Box             0.252          0.227          -2.042         0              29.078         0
  12  Book            2.554          0.033          -0.215         0              0              0              57
  13  Statue          2.456          0.827          -0.324         0              270            0              55
  14  CellPhone       2.579          0.821          0.054          0              270            0              55
  15  Pillow          0.148          0.744          1.738          0              195.270        0              25
  16  Pillow          -0.441         0.738          1.64           0              348.951        0              25
  17  BasketBall      -1.231         0.121          -0.18          0              0              0
  18  CreditCard      0.418          0.832          -2.414         0              0              0              44
  19  KeyChain        2.694          0.192          -0.041         0              0              0              52
  20  Pencil          -0.393         0.049          -1.752         0              0              0              38
  21  AlarmClock      2.456          0.819          -0.134         0              270            0              55
  22  Laptop          -0.535         0.781          0.402          0              59.999         0              25
  23  CD              2.517          0.821          0.433          0              270            0              55
  24  Pen             -0.904         0.432          -1.752         0              0              0              37
  25  Bed             -0.209         -0.001         0.983          0              0              0
  26  LightSwitch     0.778          1.266          2.128          0              180            0
  27  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  28  Painting        2.063          1.674          -1.865         83.723         0              0
  29  HousePlant      -0.808         0.953          -1.730         0              0              0
  30  Painting        1.871          0.393          -1.792         79.235         0              0
  31  Mirror          2.842          1.404          1.375          0              90             0
  32  DeskLamp        2.676          0.819          0.878          0              0              0
  33  Window          -1.700         1.444          -0.542         90             90             0
  34  Window          0.535          1.412          -2.618         90             0              0
  35  Shelf           -0.904         0.824          -1.754         0              0              0
  36  Shelf           -0.802         0.981          -1.756         0              0              0
  37  Shelf           -0.904         0.555          -1.754         0              0              0
  38  Shelf           -0.327         0.225          -1.754         0              0              0
  39  Shelf           -0.439         0.822          -1.754         0              0              0
  40  Shelf           -0.619         0.981          -1.754         0              0              0
  41  Shelf           -0.439         0.556          -1.754         0              0              0
  42  Shelf           -0.709         0.225          -1.754         0              0              0
  43  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  44  Stool           0.799          0.004          -2.105         0              0              0
  45  Blinds          0.542          2.135          -2.553         0              0              0
  46  Blinds          -1.645         2.145          -0.546         0              90             0
  47  Drawer          2.518          0.574          0.623          0              270            0
  48  Drawer          2.517          0.411          0.623          0              270            0
  49  Drawer          2.518          0.732          0.623          0              270            0
  50  Drawer          2.518          0.732          -0.119         0              270            0
  51  Drawer          2.517          0.411          -0.119         0              270            0
  52  Drawer          2.517          0.247          -0.119         0              270            0
  53  Drawer          2.517          0.090          0.623          0              270            0
  54  Drawer          2.517          0.247          0.623          0              270            0
  55  Dresser         2.555          0.003          0.252          0              270            0
  56  Drawer          2.518          0.574          -0.119         0              270            0
  57  Drawer          2.517          0.090          -0.119         0              270            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: turn around and walk a little bit towards the bed and turn left and walk straight towards the shelf and turn left | STEP 2: pick up the pencil on the bottom shelf | STEP 3: turn left and walk straight then turn left again towards the bed and walk straight towards the door then turn right and walk straight towards the mirror and turn right at the table edge | STEP 4: turn the lamp on at the edge of the table | END