Task: Look at a pen in the light from 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           0.5            0.900          0.25           0              270            0
   1  TissueBox       1.183          0.475          0.512          0              180            0              35
   2  TissueBox       1.466          0.479          0.186          0              180            0              35
   3  Pencil          1.183          0.480          0.349          0              180            0              35
   4  Pen             -0.606         0.463          -0.691         0              0              0              41
   5  Pen             2.009          0.070          -0.653         0              0              0              40
   6  KeyChain        3.827          0.767          1.151          0              180            0              45
   7  KeyChain        4.007          0.878          0.549          0              90             0              44
   8  RemoteControl   1.174          0.337          1.892          0              0              0              43
   9  Box             1.586          0.582          1.819          0              0              0              43
  10  Laptop          -0.273         0.321          1.739          0              181.372        0              42
  11  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  12  Newspaper       2.033          0.476          0.186          0              180            0              35
  13  Laptop          1.805          0.47           0.499          0              0              0              35
  14  WateringCan     1.621          0.056          -0.697         0              0              0              40
  15  TissueBox       1.904          0.067          -0.767         0              0              0              40
  16  KeyChain        3.827          0.766          0.578          0              90             0              45
  17  Pen             1.183          0.483          0.186          0              180            0              35
  18  Boots           4.005          0.001          1.707          1.563          246.167        0
  19  Pencil          3.852          0.769          0.960          0              0              0              45
  20  RemoteControl   1.904          0.454          -0.767         0              0              0              36
  21  CreditCard      1.466          0.477          0.676          0              180            0              35
  22  Pillow          0.651          0.395          1.708          0              0              0              25
  23  Statue          -0.532         0.443          -0.738         0              92.244         0              41
  24  Statue          1.324          0.487          0.512          0              90             0              35
  25  Sofa            1.174          0.0            1.865          0              0              0
  26  FloorLamp       3.608          0.000          2.163          0              0              0
  27  GarbageCan      3.833          -0.029         -0.495         0              0              0
  28  Television      1.897          1.281          -0.838         0              0              0
  29  Painting        4.070          1.950          0.848          90             270            0
  30  HousePlant      0.387          0.801          -0.725         0              90             0
  31  Window          0.023          2.072          2.484          90             180            0
  32  Window          1.570          2.072          2.484          90             180            0
  33  LightSwitch     -1.399         1.289          1.835          0              90             0
  34  ArmChair        2.655          0.000          1.858          0              180            0
  35  CoffeeTable     1.591          -0.000         0.446          0              180            0
  36  Shelf           1.905          0.588          -0.730         0              0              0
  37  TVStand         1.904          -0.000         -0.770         0              0              0
  38  Shelf           -0.289         0.200          -0.732         0              0              0
  39  TVStand         -0.290         -0.000         -0.772         0              0              0
  40  Shelf           1.905          0.200          -0.730         0              0              0
  41  Shelf           -0.289         0.588          -0.732         0              0              0
  42  ArmChair        -0.270         0.000          1.870          0              181.372        0
  43  Sofa            1.193          0.008          1.865          0              180            0
  44  SideTable       3.946          0.000          0.865          0              270            0
  45  Drawer          3.882          0.774          0.864          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around and go to the TV stand to your right. | STEP 2: Pick up the blue pen on the bottom shelf. | STEP 3: Turn around and go to the lamp in the right corner. | STEP 4: Turn on the lamp. | END