Task: Look at the pencil by the light of the tall lamp in the corner.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.907          -0.75          0              270            0
   1  Plate           -4.842         0.758          -0.626         0              0              0              48
   2  Bowl            -4.295         0.756          -0.749         0              0              0              52
   3  TissueBox       -3.930         0.756          -0.379         0              0              0              52
   4  Newspaper       -4.477         0.761          -0.008         0              0              0              52
   5  Pencil          -4.659         0.758          -0.379         0              0              0              52
   6  CellPhone       0.147          0.552          2.304          0              0              0              37
   7  CellPhone       -0.970         0.453          2.086          0              0              0              53
   8  CreditCard      0.278          0.423          4.496          0              90             0              44
   9  RemoteControl   0.319          0.554          2.153          0              0              0              37
  10  Pillow          -1.437         0.524          2.086          0              0              0              53
  11  Book            0.233          0.552          2.605          0              90             0              37
  12  Box             0.957          0.286          6.189          0              327.955        0              45
  13  Pillow          0.438          0.581          5.162          321.968        0              0              45
  14  Bowl            -1.236         0.882          0.140          0              90             0              54
  15  WateringCan     -0.816         0.005          0.189          0              0              0
  16  TissueBox       0.492          0.553          2.454          0              0              0              37
  17  Newspaper       0.492          0.558          3.056          0              0              0              37
  18  CreditCard      0.521          0.357          2.993          0              0              0              43
  19  KeyChain        -1.554         0.450          2.559          0              0              0              53
  20  Boots           -6.309         0.006          1.252          0              92.842         0
  21  Pencil          0.233          0.555          2.153          0              0              0              37
  22  Laptop          -1.554         0.448          3.031          0              0              0              53
  23  Vase            -4.272         0.748          -0.436         0              0              0              52
  24  RemoteControl   0.147          0.554          2.153          0              0              0              37
  25  Watch           -4.112         0.754          -0.626         0              0              0              49
  26  CellPhone       0.816          0.424          4.434          0              90             0              44
  27  Plate           -4.044         0.748          -0.078         0              0              0              51
  28  Painting        -6.5           1.759          -0.341         0              0              0
  29  Painting        0.704          1.778          0.782          0              0              0
  30  Television      1.5            1.690          2.562          0              270            0
  31  FloorLamp       1.111          0.007          6.805          0              0              0
  32  GarbageCan      -6.128         -0.003         2.800          0              0              0
  33  LightSwitch     -6.5           1.498          1.345          0              90             0
  34  HousePlant      -0.753         0.874          0.209          0              0              0
  35  Window          1.496          1.712          4.454          90             90             0
  36  Window          -4.210         1.577          -1.980         90             180            0
  37  CoffeeTable     0.405          0.008          2.605          0              270            0
  38  Drawer          0.597          0.234          2.604          0              270            0
  39  Drawer          0.214          0.393          2.604          0              270            0
  40  Drawer          0.214          0.234          2.609          0              270            0
  41  Drawer          0.214          0.075          2.604          0              270            0
  42  Drawer          0.597          0.075          2.604          0              270            0
  43  Drawer          0.597          0.393          2.604          0              270            0
  44  Ottoman         0.493          0.006          4.309          0              0              0
  45  ArmChair        0.420          0.014          5.129          0              180            0
  46  Chair           -4.664         0.008          0.164          0              180            0
  47  Chair           -3.424         0.008          -0.321         0              270            0
  48  Chair           -4.988         0.008          -0.401         0              90             0
  49  Chair           -3.904         0.008          -0.827         0              0              0
  50  Chair           -4.570         0.008          -0.831         0              0              0
  51  Chair           -3.996         0.008          0.091          0              180            0
  52  DiningTable     -4.295         0.006          -0.378         0              0              0
  53  Sofa            -1.527         0.013          2.559          0              90             0
  54  SideTable       -1.030         0.006          0.160          0              0              0
  55  Drawer          -1.030         0.780          0.225          0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Go to the coffee table in front of the sofa. | STEP 2: Pick up the pencil on the coffee table. | STEP 3: Walk across the room to the tall lamp behind the chair. | STEP 4: Turn on the tall lamp. | END