Task: Pick up a pen on the table to turn on 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          -1.0           0              270            0
   1  Mug             -0.095         0.688          -1.749         0              270            0              46
   2  CD              0.021          0.689          -1.749         0              0              0              46
   3  CD              1.084          0.728          1.727          0              0              0              44
   4  CellPhone       1.205          0.782          0.107          0              0              0              33
   5  Pen             1.152          0.734          1.892          0              0              0              44
   6  Pen             0.255          0.698          -1.572         0              0              0              46
   7  Pen             1.373          1.144          0.933          0              270            0              41
   8  KeyChain        1.423          0.729          1.727          0              0              0              44
   9  KeyChain        1.405          1.139          1.402          0              270            0              41
  10  Book            1.080          0.780          -0.988         0              0              0              33
  11  AlarmClock      1.084          0.729          0.901          0              0              0              44
  12  AlarmClock      1.084          0.729          1.066          0              0              0              44
  13  Book            1.080          0.780          -0.440         0              0              0              33
  14  Box             -1.233         0.263          -1.435         0              312.675        0
  15  CellPhone       1.310          1.142          1.089          0              270            0              41
  16  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  17  Bowl            1.353          0.721          0.891          0              0              0              44
  18  BasketBall      -1.64          0.127          -1.652         0              0              0
  19  Laptop          1.223          0.721          1.342          0              255.000        0              44
  20  CreditCard      1.211          0.075          1.879          0              0              0              42
  21  KeyChain        1.220          0.729          1.066          0              180            0              44
  22  AlarmClock      1.341          1.139          1.558          0              270            0              41
  23  Pencil          0.255          0.693          -1.749         0              0              0              46
  24  Pillow          0.872          0.816          -1.513         0              0              0              33
  25  CD              0.021          0.692          -1.616         0              0              0              46
  26  Pen             -0.213         0.698          -1.660         0              0              0              46
  27  Mug             1.423          0.727          1.066          0              0              0              44
  28  Poster          0.978          1.970          -1.868         90             0              0
  29  Mirror          -0.884         1.350          2.086          0              0              0
  30  Poster          1.483          1.978          -1.210         90             270            0
  31  Poster          1.483          1.503          -0.128         90             270            0
  32  Poster          1.483          2.138          -0.128         90             270            0
  33  Bed             0.955          0.002          -0.722         0              0              0
  34  GarbageCan      1.133          0.032          0.581          0              0              0
  35  DeskLamp        -0.396         0.664          -1.666         0              315            0
  36  LightSwitch     0.554          1.154          2.079          0              180            0
  37  Window          -0.174         1.006          -2.009         90             0              0
  38  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  39  Chair           1.127          -8.434         1.053          0              90             0
  40  Blinds          -0.145         1.679          -1.986         0              0              0
  41  Shelf           1.316          1.174          1.388          0              270            0
  42  Drawer          1.099          0.167          1.724          0              270            0
  43  Drawer          1.099          0.622          1.724          0              270            0
  44  Desk            1.189          0.002          1.384          0              270            0
  45  Drawer          1.099          0.408          1.724          0              270            0
  46  SideTable       -0.103         -0.000         -1.691         0              0              0
  47  Drawer          -0.104         0.157          -1.618         0              0              0
  48  Drawer          -0.104         0.456          -1.618         0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Look down and turn around and walk to the bed. Turn to the right and go towards the table next to the bed. | STEP 2: Pick up the pen on the table. | STEP 3: Raise it up turn to the right and go to the end of the table turning left to face the lamp. | STEP 4: Turn on the lamp. | END