Task: examine pencil with 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           -1.25          0.901          0.5            0              180            0
   1  CellPhone       -1.787         0.507          1.581          0              270            0              36
   2  Pen             0.930          0.690          -1.747         0              0              0              32
   3  Pen             -1.845         1.077          1.492          0              270            0              39
   4  CreditCard      -1.840         0.065          1.448          0              270            0              38
   5  KeyChain        -1.762         0.640          0.057          0              180            0              40
   6  KeyChain        0.222          0.684          -1.789         0              0              0              32
   7  Laptop          -0.823         0.538          -0.549         0              0              0              24
   8  AlarmClock      1.228          0.711          0.215          0              270            0              43
   9  AlarmClock      1.228          0.711          0.409          0              270            0              43
  10  Book            -1.301         0.540          -0.830         0              0              0              24
  11  AlarmClock      1.679          0.711          0.990          0              270            0              43
  12  BasketBall      1.510          0.120          -0.105         0              0              0
  13  TeddyBear       -1.7           0.475          -0.331         0              225            0              24
  14  TennisRacket    1.551          0.000          0.654          270            336.082        0
  15  Pen             1.769          0.717          0.796          0              270            0              43
  16  Pencil          1.589          0.715          -0.171         0              270            0              43
  17  KeyChain        1.408          0.711          0.022          0              270            0              43
  18  CreditCard      1.228          0.711          0.990          0              270            0              43
  19  Laptop          -0.344         0.538          -0.408         0              0              0              24
  20  CellPhone       -1.681         0.507          1.381          0              270            0              36
  21  Pillow          -0.583         0.618          -0.971         0              0              0              24
  22  CD              -1.628         0.286          1.648          0              270            0              38
  23  Curtains        1.865          2.039          -0.495         0              0              0
  24  Bed             -1.037         0.009          -0.690         0              270            0
  25  Mirror          0.549          1.494          1.880          0              0              0
  26  Curtains        0.486          2.035          -1.853         0              90             0
  27  GarbageCan      1.683          -0.018         1.670          0              270            0
  28  LightSwitch     -0.119         1.317          1.853          0              180            0
  29  DeskLamp        -1.845         1.057          0.756          0              0              0
  30  Window          1.932          1.409          -0.507         90             270            0
  31  Window          0.481          1.411          -1.932         90             0              0
  32  SideTable       0.626          0.0            -1.705         0              0              0
  33  Footstool       0.176          0.006          -0.358         0              0              0
  34  Dumbbell        1.596          0.715          0.772          0              0              0
  35  Dumbbell        1.776          0.717          0.772          0              0              0
  36  Shelf           -1.700         0.573          1.540          0              90             0
  37  Shelf           -1.700         0.156          1.540          0              90             0
  38  Shelf           -1.700         0.377          1.540          0              90             0
  39  Shelf           -1.839         1.084          1.235          0              90             0
  40  Desk            -1.722         0.003          0.920          0              90             0
  41  Footstool       0.175          0.004          -0.652         0              0              0
  42  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  43  Desk            1.519          1.823          0.385          0              270            0
  44  Chair           -1.459         0.003          0.929          0              292.527        0
  45  NorthWall
  46  EastWall
  47  WestWall

Plan:
STEP 1: turn left, walk to the table, turn right, walk past table, turn left, turn left to face table | STEP 2: pick up the pencil that is on the table | STEP 3: turn left, take a step, turn right, take a few steps, turn left, walk to the desk | STEP 4: turn the lamp on | END