Task: Pick up a pencil and examine it by the light of 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           0.5            0.901          -1.0           0              180            0
   1  Bowl            1.559          0.695          -1.409         0              0              0              31
   2  CD              1.492          0.473          -0.911         0              270            0              30
   3  CellPhone       0.477          0.693          -2.125         0              90             0              31
   4  CellPhone       -1.346         0.631          -1.297         0              0              0              22
   5  Pencil          -0.560         0.666          0.643          0              180            0              34
   6  Book            -0.708         0.661          0.600          0              180            0              34
   7  AlarmClock      0.661          0.695          -2.055         0              90             0              31
   8  AlarmClock      1.610          0.695          -1.644         0              18.354         0              31
   9  Box             -0.015         0.239          -2.091         0              0              0
  10  Book            -1.521         0.629          -0.473         0              0              0              22
  11  BaseballBat     1.798          0.639          0.425          0              0              342.316
  12  Pen             -0.362         0.698          -1.980         0              90             0              31
  13  Pencil          -0.634         0.666          0.513          0              180            0              34
  14  KeyChain        1.439          0.473          -0.667         0              270            0              30
  15  Pillow          -1.694         0.656          0.415          0              0              0              22
  16  CreditCard      0.293          0.693          -2.125         0              90             0              31
  17  CellPhone       1.431          0.694          -1.786         0              18.354         0              31
  18  Laptop          1.641          0.686          -1.011         0              270            0              31
  19  CD              -0.017         0.693          -2.132         0              99.090         0              31
  20  Bowl            0.845          0.694          -2.196         0              90             0              31
  21  AlarmClock      -0.413         0.664          0.556          0              180            0              34
  22  Bed             -1.696         0.004          -0.446         0              0              0
  23  Chair           0.956          -0.000         -1.747         0              110.225        0
  24  DeskLamp        -0.440         0.688          -2.276         0              0              0
  25  LightSwitch     0.625          1.338          0.734          0              180            0
  26  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  27  Mirror          1.300          1.422          0.765          0              0              0
  28  HousePlant      -0.867         0.000          -2.286         0              0              0
  29  Window          0.819          1.496          -2.553         90             180            0
  30  Shelf           1.616          0.561          -0.802         0              0              0
  31  Desk            0.617          -0.000         -1.511         0              0              0
  32  Blinds          0.796          2.217          -2.476         0              0              0
  33  Drawer          -0.558         0.456          0.462          0              180            0
  34  SideTable       -0.557         -0.000         0.529          0              180            0
  35  Drawer          -0.558         0.164          0.462          0              180            0
  36  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Move to the right side of the desk | STEP 2: Pick up the blue pencil on the desk | STEP 3: Move to the right side of the desk | STEP 4: Turn on the light | END