Task: examine a pen by the light of the lamp on the table

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           0.909          -3.25          0              0              0
   1  Mug             -3.687         0.979          -3.271         0              0              0              40
   2  Mug             -3.760         0.979          -3.673         0              0              0              40
   3  CD              -3.526         0.614          -3.276         0              0              0              41
   4  CellPhone       -2.770         0.620          -1.506         0              0              0              22
   5  CellPhone       -2.559         0.620          -1.793         0              0              0              22
   6  Pen             -3.834         0.986          -3.472         0              0              0              40
   7  Pen             -3.638         0.424          -3.370         0              0              0              48
   8  KeyChain        -3.466         0.980          -3.874         0              0              0              40
   9  Book            -3.694         0.226          -2.999         0              270            0              42
  10  CellPhone       -2.348         0.620          -1.218         0              0              0              22
  11  Laptop          -2.981         0.618          -2.080         0              0              0              22
  12  CreditCard      -0.350         0.189          -3.844         0              0              0              32
  13  AlarmClock      -3.539         0.981          -4.276         0              0              0              40
  14  KeyChain        -0.596         0.543          -3.749         0              0              0              31
  15  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          22
  16  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  17  Pencil          -0.240         0.546          -3.657         0              0              0              31
  18  Pillow          -3.335         0.681          -0.415         0              0              0              22
  19  CD              -1.474         0.799          -3.920         0              0              0              37
  20  Pen             -1.474         0.805          -3.811         0              0              0              37
  21  Mug             -0.453         0.801          -4.029         0              0              0              37
  22  Bed             -2.980         0.009          -1.177         0              0              0
  23  LightSwitch     -1.620         1.351          0.0            0              180            0
  24  DeskLamp        -1.529         0.790          -4.298         0              0              0
  25  Mirror          -0.002         1.251          -2.592         0              90             0
  26  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  27  Window          0.209          1.180          -1.504         90             270            0
  28  Drawer          -0.503         0.067          -4.188         0              180            0
  29  Drawer          -0.502         0.226          -3.799         0              0              0
  30  Drawer          -0.502         0.385          -3.799         0              0              0
  31  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  32  Drawer          -0.502         0.067          -3.799         0              0              0
  33  Blinds          0.163          2.196          -1.495         0              270            0
  34  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  35  Drawer          -0.503         0.385          -4.188         0              180            0
  36  Drawer          -0.503         0.226          -4.188         0              180            0
  37  Desk            -0.862         0.006          -4.028         0              0              0
  38  Drawer          -3.609         0.876          -4.055         0              90             0
  39  Drawer          -3.608         0.112          -3.261         0              90             0
  40  Dresser         -3.653         0.008          -3.658         0              90             0
  41  Drawer          -3.609         0.688          -3.261         0              90             0
  42  Drawer          -3.609         0.300          -3.261         0              90             0
  43  Drawer          -3.609         0.494          -4.055         0              90             0
  44  Drawer          -3.609         0.300          -4.055         0              90             0
  45  Drawer          -3.608         0.112          -4.055         0              90             0
  46  Drawer          -3.609         0.688          -4.055         0              90             0
  47  Drawer          -3.609         0.876          -3.261         0              90             0
  48  Drawer          -3.609         0.494          -3.261         0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn to the left and move forward to the dresser that is to the left of the bed | STEP 2: pick up the pen that is on the dresser | STEP 3: turn around and move forward to the table with the lamp | STEP 4: turn on the lamp | END