Task: Pick up the pen from the desk and turn the lamp on the white table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.909          -1.5           0              180            0
   1  Mug             -0.507         0.541          -3.694         0              0              0              32
   2  Mug             -0.774         0.541          -3.713         0              0              0              32
   3  CellPhone       -3.582         0.225          -3.884         0              0              0              45
   4  CellPhone       -3.760         0.981          -3.472         0              0              0              41
   5  Pencil          -3.693         0.812          -3.184         0              0              0              48
   6  Pencil          -1.270         0.803          -4.137         0              0              0              38
   7  CreditCard      -0.274         0.349          -3.844         0              0              0              32
   8  KeyChain        -3.466         0.982          -4.276         0              0              0              41
   9  KeyChain        -3.524         0.045          -3.371         0              0              0              40
  10  Book            -0.862         0.804          -3.920         0              0              0              38
  11  CellPhone       -0.655         0.188          -3.844         0              0              0              30
  12  Laptop          -3.402         0.618          -1.793         0              0              0              23
  13  CreditCard      -1.270         0.803          -3.703         0              0              0              38
  14  AlarmClock      -1.474         0.803          -3.920         0              0              0              38
  15  KeyChain        -0.657         0.800          -4.354         0              0              0              38
  16  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          23
  17  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  18  Pencil          -0.240         0.546          -3.694         0              0              0              32
  19  Pillow          -2.559         0.722          -1.506         0              0              0              23
  20  CD              -1.854         0.062          -3.925         0              279.990        0              27
  21  Pen             -3.687         0.986          -4.276         0              0              0              41
  22  Mug             -1.474         0.798          -4.137         0              90             0              38
  23  Bed             -2.980         0.009          -1.177         0              0              0
  24  LightSwitch     -1.620         1.351          0.0            0              180            0
  25  DeskLamp        -1.529         0.790          -4.298         0              0              0
  26  Mirror          -0.002         1.251          -2.592         0              90             0
  27  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  28  Window          0.209          1.180          -1.504         90             270            0
  29  Drawer          -0.503         0.067          -4.188         0              180            0
  30  Drawer          -0.502         0.226          -3.799         0              0              0
  31  Drawer          -0.502         0.385          -3.799         0              0              0
  32  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  33  Drawer          -0.502         0.067          -3.799         0              0              0
  34  Blinds          0.163          2.196          -1.495         0              270            0
  35  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  36  Drawer          -0.503         0.385          -4.188         0              180            0
  37  Drawer          -0.503         0.226          -4.188         0              180            0
  38  Desk            -0.862         0.006          -4.028         0              0              0
  39  Drawer          -3.609         0.876          -4.055         0              90             0
  40  Drawer          -3.608         0.112          -3.261         0              90             0
  41  Dresser         -3.653         0.008          -3.658         0              90             0
  42  Drawer          -3.609         0.688          -3.261         0              90             0
  43  Drawer          -3.609         0.300          -3.261         0              90             0
  44  Drawer          -3.609         0.494          -4.055         0              90             0
  45  Drawer          -3.609         0.300          -4.055         0              90             0
  46  Drawer          -3.608         0.112          -4.055         0              90             0
  47  Drawer          -3.609         0.688          -4.055         0              90             0
  48  Drawer          -3.609         0.876          -3.261         0              90             0
  49  Drawer          -3.609         0.494          -3.261         0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Head straight to the white table, turn right and walk to the brown desk. | STEP 2: Pick up the pen from the brown desk. | STEP 3: Turn around and walk to the white table with the lamp on it. | STEP 4: Turn the lamp on next to the coffee cup. | END