Task: Look at the pen in the lamp light.

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           0.901          1.5            0              90             0
   1  CellPhone       -0.823         0.541          -0.549         0              0              0              23
   2  CellPhone       -1.541         0.541          -1.112         0              0              0              23
   3  Pencil          -1.787         0.290          1.448          0              270            0              37
   4  Pencil          -1.845         1.075          1.209          0              270            0              38
   5  KeyChain        0.647          0.684          -1.580         0              0              0              31
   6  KeyChain        -1.894         0.507          1.515          0              180            0              35
   7  Laptop          1.498          0.709          0.796          0              270            0              42
   8  Laptop          -0.583         0.538          -0.971         0              0              0              23
   9  Book            -1.777         0.668          1.55           0              272.796        0              35
  10  AlarmClock      0.930          0.684          -1.789         0              0              0              31
  11  BasketBall      1.510          0.120          -0.105         0              0              0
  12  TeddyBear       -1.7           0.475          -0.331         0              225            0              23
  13  TennisRacket    1.551          0.000          0.654          270            336.082        0
  14  Pen             1.318          0.717          0.022          0              270            0              42
  15  Pencil          -1.787         0.069          1.515          0              270            0              36
  16  KeyChain        -1.936         1.071          1.634          0              270            0              38
  17  CreditCard      -1.814         1.071          1.351          0              270            0              38
  18  Laptop          -1.683         0.671          1.206          0              0              0              39
  19  CellPhone       -1.828         0.642          0.291          0              180            0              39
  20  Pillow          -1.757         0.569          -0.768         0              285.000        0              23
  21  CD              1.769          0.711          0.022          0              270            0              42
  22  Curtains        1.865          2.039          -0.495         0              0              0
  23  Bed             -1.037         0.009          -0.690         0              270            0
  24  Mirror          0.549          1.494          1.880          0              0              0
  25  Curtains        0.486          2.035          -1.853         0              90             0
  26  GarbageCan      1.683          -0.018         1.670          0              270            0
  27  LightSwitch     -0.119         1.317          1.853          0              180            0
  28  DeskLamp        -1.845         1.057          0.756          0              0              0
  29  Window          1.932          1.409          -0.507         90             270            0
  30  Window          0.481          1.411          -1.932         90             0              0
  31  SideTable       0.626          0.0            -1.705         0              0              0
  32  Footstool       0.176          0.006          -0.358         0              0              0
  33  Dumbbell        1.596          0.715          0.772          0              0              0
  34  Dumbbell        1.776          0.717          0.772          0              0              0
  35  Shelf           -1.700         0.573          1.540          0              90             0
  36  Shelf           -1.700         0.156          1.540          0              90             0
  37  Shelf           -1.700         0.377          1.540          0              90             0
  38  Shelf           -1.839         1.084          1.235          0              90             0
  39  Desk            -1.722         0.003          0.920          0              90             0
  40  Footstool       0.175          0.004          -0.652         0              0              0
  41  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  42  Desk            1.519          1.823          0.385          0              270            0
  43  Chair           -1.459         0.003          0.929          0              292.527        0
  44  NorthWall
  45  EastWall
  46  WestWall

Plan:
STEP 1: Turn right and walk to the bed, then turn left and take two steps, then turn right and take one step, then turn left and walk to the desk.  | STEP 2: Pick up the blue pen that is on the desk. | STEP 3: Turn to the left and take one step, then turn to the left and walk across the room.  | STEP 4: Turn on the lamp that is on the second shelf of the desk.  | END