Task: look at the pencil under 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           0.900          0.0            0              180            0
   1  Bowl            -0.819         0.861          -1.183         0              0              0              42
   2  Mug             -0.651         0.855          -1.356         0              0              0              42
   3  Mug             -2.091         0.876          0.665          0              0              0              52
   4  CD              -2.187         0.039          2.522          0              180            0              57
   5  CellPhone       -0.549         0.650          -0.692         0              0              0              40
   6  CellPhone       -2.083         0.040          2.522          0              180            0              57
   7  Pen             -0.473         0.089          -0.852         0              0              0              41
   8  Pen             -2.074         0.110          0.721          0              0              0              55
   9  Pencil          -0.483         0.861          -1.356         0              0              0              42
  10  Pencil          -1.224         0.882          0.832          0              0              0              52
  11  Pencil          -1.744         0.882          0.665          0              0              0              52
  12  CreditCard      -0.549         0.083          -0.612         0              0              0              41
  13  KeyChain        -1.918         0.879          0.832          0              0              0              52
  14  Book            -0.735         0.857          -0.836         0              0              0              42
  15  Book            -0.511         0.648          -0.932         0              0              0              40
  16  Laptop          1.003          0.781          1.076          0              0              0              33
  17  AlarmClock      -1.392         1.724          0.448          0              0              0              46
  18  AlarmClock      -1.834         0.883          0.489          0              0              0              52
  19  Book            1.815          0.783          0.787          0              0              0              33
  20  AlarmClock      -2.045         1.350          0.448          0              0              0              52
  21  BasketBall      1.976          0.120          0.211          0              331.076        0
  22  Pen             -1.728         1.355          0.407          0              0              0              44
  23  Laptop          1.409          0.781          1.945          0              0              0              33
  24  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  25  Bowl            -0.827         0.850          -1.641         0              0              0              42
  26  Pillow          1.118          0.867          2.464          0              0              0              33
  27  KeyChain        -2.187         0.039          2.736          0              270            0              57
  28  CreditCard      -1.179         1.350          0.366          0              0              0              49
  29  CellPhone       -1.744         0.879          0.581          0              0              0              52
  30  CD              -0.567         0.857          -1.702         0              0              0              42
  31  Pencil          -1.939         1.353          0.530          0              0              0              44
  32  Mug             -1.834         1.721          0.366          0              0              0              46
  33  Bed             1.227          -0.002         1.664          0              0              0
  34  LightSwitch     2.151          1.233          -0.518         0              270            0
  35  GarbageCan      -0.747         0.014          -0.327         0              0              0
  36  Mirror          -1.358         1.427          2.855          0              0              0
  37  DeskLamp        -2.296         0.858          0.750          0              0              0
  38  Window          -0.421         1.534          -1.947         90             0              0
  39  Window          0.579          1.534          -1.947         90             0              0
  40  Drawer          -0.491         0.739          -0.855         0              90             0
  41  Drawer          -0.491         0.204          -0.855         0              90             0
  42  Desk            -0.639         0.009          -1.187         0              90             0
  43  Drawer          -0.491         0.487          -0.855         0              90             0
  44  Shelf           -1.965         1.514          0.416          0              0              0
  45  Shelf           -1.965         1.092          0.416          0              0              0
  46  Shelf           -1.312         1.888          0.416          0              0              0
  47  Shelf           -1.965         1.888          0.416          0              0              0
  48  Shelf           -1.312         1.092          0.416          0              0              0
  49  Shelf           -1.312         1.514          0.416          0              0              0
  50  Blinds          0.601          2.161          -1.916         0              0              0
  51  Blinds          -0.402         2.161          -1.916         0              0              0
  52  Desk            -1.726         0.001          0.575          0              0              0
  53  Drawer          -2.058         0.733          0.734          0              0              0
  54  Drawer          -2.058         0.482          0.734          0              0              0
  55  Drawer          -2.058         0.198          0.735          0              0              0
  56  Chair           -0.137         0.000          -1.587         0              315            0
  57  Safe            -2.183         -7.748         2.576          0              180            0
  58  Chair           -1.433         0.009          0.780          357.672        206.726        0
  59  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: go to the desk | STEP 2: pick up the pencil from the desk | STEP 3: take the pencil to the lamp | STEP 4: turn on the lamp | END