Task: Examine the pencil by light of the table 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           0.900          -0.5           0              0              0
   1  CD              1.409          0.282          -1.635         0              180            0              40
   2  CellPhone       -0.097         0.570          -1.129         0              0              0              26
   3  Pen             3.103          0.804          -1.358         0              0              0              39
   4  Pen             1.240          0.516          -1.591         0              180            0              41
   5  Pencil          2.705          0.803          -1.666         0              90             0              39
   6  CreditCard      1.471          0.515          -1.712         0              0              0              41
   7  CreditCard      2.931          0.545          -1.441         0              0              0              38
   8  KeyChain        1.239          0.519          -1.712         0              180            0              41
   9  KeyChain        1.183          0.060          -1.635         0              180            0              42
  10  Book            0.715          0.569          -0.905         0              0              0              26
  11  Laptop          0.227          0.568          -0.682         0              0              0              26
  12  Book            2.881          0.791          -1.623         0              39.196         0              39
  13  KeyChain        2.108          0.799          -1.420         0              0              0              39
  14  TissueBox       1.909          0.800          -1.358         0              0              0              39
  15  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          26
  16  Pencil          1.909          0.803          -1.543         0              0              0              39
  17  CreditCard      2.705          0.798          -1.482         0              0              0              39
  18  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  19  Laptop          2.362          0.791          -1.54          0              0              0              39
  20  AlarmClock      1.108          0.510          -1.673         0              345.190        0              41
  21  Pen             1.836          0.796          -1.667         0              0              0              39
  22  Pillow          0.299          0.643          -1.557         0              0              0              26
  23  CellPhone       0.227          0.570          -0.459         0              0              0              26
  24  CD              1.471          0.517          -1.591         0              0              0              41
  25  Mug             3.103          0.796          -1.482         0              0              0              39
  26  Bed             0.227          -0.003         -0.947         0              180            0
  27  Mirror          0.615          1.264          1.029          0              0              0
  28  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  29  DeskLamp        3.164          0.794          -1.664         0              315            0
  30  HousePlant      -0.833         0.000          0.843          0              0              0
  31  LightSwitch     2.010          1.126          1.029          0              180            0
  32  Window          1.794          1.677          -1.939         90             180            0
  33  Window          0.691          1.361          -1.938         90             180            0
  34  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  35  Blinds          1.776          1.993          -1.858         0              0              0
  36  Blinds          0.670          1.993          -1.858         0              0              0
  37  Chair           2.255          0.004          -1.501         0              167.716        0
  38  Shelf           3.034          0.637          -1.580         0              0              0
  39  Desk            2.500          0.002          -1.596         0              0              0
  40  Drawer          1.240          0.354          -1.553         0              0              0
  41  SideTable       1.239          0.003          -1.551         0              0              0
  42  Drawer          1.240          0.126          -1.553         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and walk over to the desk | STEP 2: Pick up the yellow pencil from the desk | STEP 3: Move slightly left and turn back to face the left side of the same desk | STEP 4: Turn on the lamp that is on the desk | END