Task: Examine a pencil by the light of the lamp on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.25           0              270            0
   1  CellPhone       -1.393         0.861          -2.373         0              0              0              62
   2  Pen             1.411          0.829          -1.776         0              270            0              53
   3  Pen             -1.594         0.867          -2.311         0              0              0              62
   4  Pencil          -0.061         0.810          -2.507         0              0              0              55
   5  Pencil          -0.061         0.815          -2.372         0              0              0              55
   6  Pencil          -1.393         0.865          -2.436         0              0              0              62
   7  CreditCard      -0.990         0.861          -2.248         0              0              0              62
   8  KeyChain        0.042          0.813          -2.169         0              0              0              55
   9  KeyChain        0.355          0.813          -2.372         0              0              0              55
  10  Book            -1.580         0.371          -2.325         0              0              0              60
  11  RemoteControl   -0.386         0.863          -2.561         0              0              0              62
  12  RemoteControl   -1.594         0.863          -2.561         0              0              0              62
  13  Pillow          0.241          0.902          1.496          0              0              0              33
  14  Laptop          -0.333         0.772          1.335          0              0              0              33
  15  Laptop          0.528          0.772          1.012          0              0              0              33
  16  Book            0.816          0.774          1.657          0              0              0              33
  17  Cloth           1.303          0.0            -0.696         0              303.212        0
  18  Cloth           1.273          0.0            -0.969         0              0              0
  19  CellPhone       -0.333         0.774          1.012          0              0              0              33
  20  Pencil          -1.232         0.375          -2.287         0              0              0              60
  21  Laptop          -0.621         0.772          0.850          0              0              0              33
  22  AlarmClock      1.471          0.815          -1.501         0              286.015        0              53
  23  CreditCard      0.146          0.811          -2.304         0              0              0              55
  24  KeyChain        -0.789         0.862          -2.248         0              0              0              62
  25  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  26  RemoteControl   -1.192         0.863          -2.311         0              0              0              62
  27  Pillow          1.073          0.876          1.326          0              262.063        0              33
  28  CD              1.521          0.817          -1.727         0              0              0              53
  29  CD              0.527          0.806          -2.485         0              0              0              55
  30  CD              0.251          0.812          -2.575         0              0              0              55
  31  Pen             -1.319         0.093          -2.363         0              0              0              59
  32  Bowl            -0.674         0.855          -2.499         0              323.153        0              62
  33  Bed             0.270          0.001          1.331          0              90             0
  34  LaundryHamper   -1.329         0.001          1.829          0              180            0
  35  Television      -1.664         1.479          -0.912         0              90             0
  36  DeskLamp        0.049          0.815          -2.481         0              0              0
  37  LightSwitch     -1.799         1.213          0.680          0              90             0
  38  Painting        0.492          1.684          -2.629         90             0              0
  39  Poster          -1.799         1.690          -1.491         90             270            0
  40  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  41  Mirror          1.5            1.361          -0.542         0              90             0
  42  Window          1.721          1.365          -1.597         90             270            0
  43  Shelf           -1.605         0.435          -0.686         0              90             0
  44  Shelf           -1.613         1.154          -0.904         0              90             0
  45  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  46  Shelf           -1.605         0.719          -1.122         0              90             0
  47  Shelf           -1.605         0.435          -1.122         0              90             0
  48  Shelf           -1.605         1.006          -1.122         0              90             0
  49  Shelf           -1.605         0.148          -0.686         0              90             0
  50  Shelf           -1.605         0.149          -1.122         0              90             0
  51  Shelf           -1.605         1.006          -0.686         0              90             0
  52  Shelf           -1.605         0.719          -0.686         0              90             0
  53  SideTable       1.484          0.001          -1.481         0              270            0
  54  Blinds          1.699          2.096          -1.575         0              270            0
  55  Desk            0.244          0.004          -2.356         0              0              0
  56  Chair           -0.626         1.439          -2.199         0              171.006        0
  57  Chair           0.220          1.466          -2.214         0              188.269        0
  58  Shelf           -0.978         1.387          -2.479         0              0              0
  59  Drawer          -1.389         0.197          -2.261         0              0              0
  60  Drawer          -1.389         0.480          -2.261         0              0              0
  61  Drawer          -1.389         0.731          -2.261         0              0              0
  62  Desk            -0.973         1.162          -2.351         0              0              0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Move forward to the door, turn left, move to the desk. | STEP 2: Pick up the pencil on the desk.  | STEP 3: Bring the pencil to the table, left of the desk, with the lamp on it. | STEP 4: Turn on the lamp on the table. | END