Task: place a pencil down on the small table with 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           -1.25          0.937          1.0            0              270            0
   1  CD              -1.171         0.190          3.471          0              175.771        0              43
   2  CellPhone       -2.164         1.119          -3.243         0              0              0              31
   3  CellPhone       1.828          0.097          -2.945         0              90             0              49
   4  Pen             -1.071         0.588          -2.778         0              0              0              27
   5  Pen             -1.16          0.588          -2.986         0              0              0              27
   6  Pencil          -0.914         1.119          -3.158         0              0              0              31
   7  KeyChain        1.561          0.095          -2.997         0              180            0              49
   8  RemoteControl   -0.602         1.118          -3.073         0              0              0              31
   9  AlarmClock      -1.539         1.118          -2.902         0              0              0              31
  10  Book            -3.540         0.190          3.349          0              149.999        0              50
  11  AlarmClock      -0.602         1.118          -2.817         0              0              0              31
  12  CellPhone       -1.16          0.087          -2.882         0              0              0              29
  13  Pillow          0.958          0.940          0.255          0              0              0              24
  14  Pillow          1.243          0.940          0.735          0              0              0              24
  15  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  16  CreditCard      -2.164         1.116          -3.073         0              0              0              31
  17  KeyChain        1.668          0.095          -3.154         0              90             0              49
  18  Pencil          -0.632         0.087          -3.038         0              0              0              30
  19  Laptop          1.813          0.830          0.975          0              0              0              24
  20  RemoteControl   1.609          0.556          2.342          0              90             0              51
  21  CD              1.805          0.552          2.253          0              0              0              51
  22  Pen             -0.289         1.121          -2.902         0              180            0              31
  23  Mug             1.068          0.075          -3.245         0              0              0              28
  24  Bed             0.967          0.049          0.667          0              90             0
  25  Cabinet         -3.0           1.497          -2.643         0              0              0
  26  Drawer          -0.365         0.785          -2.848         0              0              0
  27  Drawer          -1.159         0.785          -2.848         0              0              0
  28  Cabinet         2.064          1.497          -2.643         0              0              0
  29  Drawer          -1.159         0.285          -2.848         0              0              0
  30  Drawer          -0.365         0.285          -2.848         0              0              0
  31  Desk            -1.271         1.169          -2.987         0              0              0
  32  LightSwitch     -0.159         1.281          3.999          0              180            0
  33  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  34  HousePlant      -0.195         1.105          -3.084         0              0              0
  35  DeskLamp        1.863          0.581          2.431          0              0              0
  36  Mirror          -1.603         1.447          3.999          0              0              0
  37  Television      -3.883         1.771          2.122          0              90             0
  38  Window          -1.952         2.148          -3.302         90             180            0
  39  Window          -0.467         2.148          -3.302         90             180            0
  40  Window          -3.894         1.751          0.582          90             270            0
  41  Window          -3.894         1.751          -0.675         90             270            0
  42  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  43  ArmChair        -0.948         0.051          3.583          0              175.988        0
  44  ArmChair        -2.172         0.051          3.598          0              180            0
  45  Blinds          -0.477         2.785          -3.253         0              0              0
  46  Blinds          -1.957         2.785          -3.253         0              0              0
  47  Blinds          -3.799         2.506          0.602          0              90             0
  48  Blinds          -3.799         2.506          -0.647         0              90             0
  49  Safe            1.673          0.054          -3.004         0              0              0
  50  ArmChair        -3.349         0.051          3.375          0              150.096        0
  51  SideTable       1.775          0.048          2.377          0              0              0
  52  Chair           -2.002         0.050          -2.532         0              165.000        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: turn left and walk to the end of the bed on the left, then turn left and walk over to the clock on the cabinet on the right | STEP 2: grab a pencil off of the cabinet on the right | STEP 3: turn around and walk to the end of the room where the black chair is, then turn right and walk to the end of the room where the lamp is on the small table | STEP 4: place the pencil down on the small table next to the lamp | END