Task: examine a pencil by the light of the lamp on the smaller desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -1.25          0              90             0
   1  Pen             0.355          0.817          -2.236         0              0              0              53
   2  Pencil          0.146          0.816          -2.169         0              0              0              53
   3  Pencil          -1.406         0.655          -2.363         0              0              0              59
   4  Pencil          -1.594         0.865          -2.436         0              0              0              60
   5  CreditCard      -1.319         0.372          -2.363         0              0              0              58
   6  CreditCard      0.459          0.811          -2.236         0              0              0              53
   7  Book            -1.393         0.861          -2.436         0              0              0              60
   8  RemoteControl   -1.406         0.373          -2.325         0              0              0              58
   9  RemoteControl   -1.232         0.653          -2.363         0              0              0              59
  10  Pillow          0.241          0.902          1.657          0              0              0              31
  11  Pillow          0.528          0.902          1.173          0              0              0              31
  12  AlarmClock      0.459          0.813          -2.372         0              0              0              53
  13  AlarmClock      -0.061         0.813          -2.304         0              0              0              53
  14  Book            -0.621         0.774          1.173          0              0              0              31
  15  Cloth           1.303          0.0            -0.696         0              303.212        0
  16  Cloth           1.273          0.0            -0.969         0              0              0
  17  CellPhone       -0.386         0.861          -2.373         0              0              0              60
  18  Pencil          1.467          0.827          -1.260         0              270            0              51
  19  Laptop          -0.046         0.772          1.012          0              0              0              31
  20  AlarmClock      -1.393         0.862          -2.248         0              0              0              60
  21  CreditCard      1.522          0.823          -1.570         0              270            0              51
  22  KeyChain        -1.406         0.653          -2.287         0              0              0              59
  23  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  24  RemoteControl   -1.192         0.863          -2.561         0              0              0              60
  25  Pillow          -0.333         0.902          1.496          0              0              0              31
  26  CD              1.521          0.817          -1.727         0              0              0              51
  27  CD              1.299          0.151          -2.495         0              315            0              38
  28  CD              -1.580         0.651          -2.325         0              0              0              59
  29  Pen             1.467          0.829          -1.467         0              270            0              51
  30  Bowl            -0.674         0.855          -2.499         0              323.153        0              60
  31  Bed             0.270          0.001          1.331          0              90             0
  32  LaundryHamper   -1.329         0.001          1.829          0              180            0
  33  Television      -1.664         1.479          -0.912         0              90             0
  34  DeskLamp        0.049          0.815          -2.481         0              0              0
  35  LightSwitch     -1.799         1.213          0.680          0              90             0
  36  Painting        0.492          1.684          -2.629         90             0              0
  37  Poster          -1.799         1.690          -1.491         90             270            0
  38  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  39  Mirror          1.5            1.361          -0.542         0              90             0
  40  Window          1.721          1.365          -1.597         90             270            0
  41  Shelf           -1.605         0.435          -0.686         0              90             0
  42  Shelf           -1.613         1.154          -0.904         0              90             0
  43  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  44  Shelf           -1.605         0.719          -1.122         0              90             0
  45  Shelf           -1.605         0.435          -1.122         0              90             0
  46  Shelf           -1.605         1.006          -1.122         0              90             0
  47  Shelf           -1.605         0.148          -0.686         0              90             0
  48  Shelf           -1.605         0.149          -1.122         0              90             0
  49  Shelf           -1.605         1.006          -0.686         0              90             0
  50  Shelf           -1.605         0.719          -0.686         0              90             0
  51  SideTable       1.484          0.001          -1.481         0              270            0
  52  Blinds          1.699          2.096          -1.575         0              270            0
  53  Desk            0.244          0.004          -2.356         0              0              0
  54  Chair           -0.626         1.439          -2.199         0              171.006        0
  55  Chair           0.220          1.466          -2.214         0              188.269        0
  56  Shelf           -0.978         1.387          -2.479         0              0              0
  57  Drawer          -1.389         0.197          -2.261         0              0              0
  58  Drawer          -1.389         0.480          -2.261         0              0              0
  59  Drawer          -1.389         0.731          -2.261         0              0              0
  60  Desk            -0.973         1.162          -2.351         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: move forward to the white cabinet that is below the window | STEP 2: pick up the yellow pencil that is to the left of the green pencil from the top of the cabinet | STEP 3: turn around and move a few steps to the small desk on the left, turn to the left to face the desk | STEP 4: turn on the lamp that is in the left back corner of the smaller desk | END