Task: Examine a pencil using 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           1.25           0.900          0.0            0              0              0
   1  Bowl            -1.834         1.727          0.448          0              0              0              43
   2  CellPhone       -2.155         0.105          0.721          0              0              0              46
   3  CellPhone       -0.549         0.365          -1.013         0              0              0              32
   4  Pen             -2.235         0.673          0.721          0              0              0              44
   5  Pencil          -0.567         0.861          -0.836         0              0              0              33
   6  Pencil          -1.728         1.353          0.489          0              0              0              35
   7  Book            -0.735         0.857          -0.836         0              0              0              33
   8  Pillow          1.612          0.918          2.524          0              0              0              24
   9  Pillow          1.206          0.918          0.787          0              0              0              24
  10  Book            1.206          0.783          1.655          0              0              0              24
  11  AlarmClock      -0.483         0.858          -1.702         0              0              0              33
  12  BasketBall      1.976          0.120          0.211          0              331.076        0
  13  Pen             -1.392         1.729          0.530          0              0              0              37
  14  Laptop          -1.783         0.871          0.732          0              0              0              43
  15  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  16  Bowl            -1.834         0.886          0.407          0              0              0              43
  17  Pillow          0.800          0.918          1.655          0              0              0              24
  18  KeyChain        -0.624         0.365          -0.772         0              90             0              34
  19  CreditCard      -0.436         0.649          -1.012         0              0              0              31
  20  CellPhone       -0.511         0.084          -0.933         0              0              0              32
  21  CD              -1.397         0.878          0.832          0              0              0              43
  22  Pencil          -2.151         1.353          0.448          0              0              0              35
  23  Mug             -0.399         0.855          -1.529         0              0              0              33
  24  Bed             1.227          -0.002         1.664          0              0              0
  25  LightSwitch     2.151          1.233          -0.518         0              270            0
  26  GarbageCan      -0.747         0.014          -0.327         0              0              0
  27  Mirror          -1.358         1.427          2.855          0              0              0
  28  DeskLamp        -2.296         0.858          0.750          0              0              0
  29  Window          -0.421         1.534          -1.947         90             0              0
  30  Window          0.579          1.534          -1.947         90             0              0
  31  Drawer          -0.491         0.739          -0.855         0              90             0
  32  Drawer          -0.491         0.204          -0.855         0              90             0
  33  Desk            -0.639         0.009          -1.187         0              90             0
  34  Drawer          -0.491         0.487          -0.855         0              90             0
  35  Shelf           -1.965         1.514          0.416          0              0              0
  36  Shelf           -1.965         1.092          0.416          0              0              0
  37  Shelf           -1.312         1.888          0.416          0              0              0
  38  Shelf           -1.965         1.888          0.416          0              0              0
  39  Shelf           -1.312         1.092          0.416          0              0              0
  40  Shelf           -1.312         1.514          0.416          0              0              0
  41  Blinds          0.601          2.161          -1.916         0              0              0
  42  Blinds          -0.402         2.161          -1.916         0              0              0
  43  Desk            -1.726         0.001          0.575          0              0              0
  44  Drawer          -2.058         0.733          0.734          0              0              0
  45  Drawer          -2.058         0.482          0.734          0              0              0
  46  Drawer          -2.058         0.198          0.735          0              0              0
  47  Chair           -0.137         0.000          -1.587         0              315            0
  48  Safe            -2.183         -7.748         2.576          0              180            0
  49  Chair           -1.433         0.009          0.780          357.672        206.726        0
  50  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn left, walk to the end of the bed, turn right, walk a few steps, turn left, walk to the wall, then turn left to face the desk.  | STEP 2: Pick up the white pencil that is sitting on the shelf above the desk.  | STEP 3: Lower the pencil down to the desk area.  | STEP 4: Turn on the lamp that is sitting on the desk. | END