Task: turn on table lamp with pen in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.937          2.5            0              270            0
   1  CD              -0.632         0.084          -2.934         0              0              0              35
   2  CellPhone       1.813          0.836          1.215          0              0              0              29
   3  CellPhone       -1.248         0.587          -2.882         0              0              0              32
   4  Pen             -1.227         1.121          -3.158         0              0              0              36
   5  Pen             -1.539         1.121          -3.158         0              0              0              36
   6  Pen             -1.248         0.588          -2.778         0              0              0              32
   7  CreditCard      -1.426         0.584          -3.038         0              0              0              32
   8  CreditCard      -1.248         0.084          -2.726         0              0              0              34
   9  KeyChain        -2.164         1.117          -2.988         0              0              0              36
  10  KeyChain        -3.655         0.191          3.388          0              239.999        0              55
  11  RemoteControl   -0.365         0.585          -2.934         0              0              0              31
  12  AlarmClock      1.609          0.555          2.440          0              90             0              56
  13  AlarmClock      -0.914         1.118          -3.158         0              0              0              36
  14  Laptop          0.673          0.830          1.456          0              0              0              29
  15  Book            -3.404         0.190          3.115          0              149.999        0              55
  16  AlarmClock      -1.227         1.118          -2.817         0              0              0              36
  17  CellPhone       -1.539         1.119          -3.243         0              0              0              36
  18  Pillow          1.785          0.87           0.309          0              270            0              29
  19  Pillow          0.673          0.940          0.015          0              0              0              29
  20  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  21  CreditCard      -0.690         0.190          3.507          0              175.771        0              48
  22  KeyChain        1.609          0.554          2.243          0              90             0              56
  23  Pencil          -3.395         0.377          -2.792         0              4.809          0              38
  24  Laptop          1.528          0.830          0.975          0              0              0              29
  25  RemoteControl   -1.539         1.118          -2.817         0              0              0              36
  26  CD              -1.539         1.115          -3.073         0              0              0              36
  27  Pen             1.805          0.558          2.181          0              0              0              56
  28  Mug             -0.289         1.114          -2.817         0              0              0              36
  29  Bed             0.967          0.049          0.667          0              90             0
  30  Cabinet         -3.0           1.497          -2.643         0              0              0
  31  Drawer          -0.365         0.785          -2.848         0              0              0
  32  Drawer          -1.159         0.785          -2.848         0              0              0
  33  Cabinet         2.064          1.497          -2.643         0              0              0
  34  Drawer          -1.159         0.285          -2.848         0              0              0
  35  Drawer          -0.365         0.285          -2.848         0              0              0
  36  Desk            -1.271         1.169          -2.987         0              0              0
  37  LightSwitch     -0.159         1.281          3.999          0              180            0
  38  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  39  HousePlant      -0.195         1.105          -3.084         0              0              0
  40  DeskLamp        1.863          0.581          2.431          0              0              0
  41  Mirror          -1.603         1.447          3.999          0              0              0
  42  Television      -3.883         1.771          2.122          0              90             0
  43  Window          -1.952         2.148          -3.302         90             180            0
  44  Window          -0.467         2.148          -3.302         90             180            0
  45  Window          -3.894         1.751          0.582          90             270            0
  46  Window          -3.894         1.751          -0.675         90             270            0
  47  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  48  ArmChair        -0.948         0.051          3.583          0              175.988        0
  49  ArmChair        -2.172         0.051          3.598          0              180            0
  50  Blinds          -0.477         2.785          -3.253         0              0              0
  51  Blinds          -1.957         2.785          -3.253         0              0              0
  52  Blinds          -3.799         2.506          0.602          0              90             0
  53  Blinds          -3.799         2.506          -0.647         0              90             0
  54  Safe            1.673          0.054          -3.004         0              0              0
  55  ArmChair        -3.349         0.051          3.375          0              150.096        0
  56  SideTable       1.775          0.048          2.377          0              0              0
  57  Chair           -2.002         0.050          -2.532         0              165.000        0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: walk to face small round night table to left of bed | STEP 2: pick up black pen from table | STEP 3: walk around table to face left side of table | STEP 4: turn on table lamp on table | END