Task: Examine a pen by the light of a small lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.25           0              90             0
   1  Mug             1.694          0.894          -3.251         0              0              0              36
   2  CellPhone       2.779          1.228          1.397          0              270            0              43
   3  CellPhone       2.779          1.228          1.283          0              270            0              43
   4  Pencil          1.344          0.024          -3.407         0              0              0              27
   5  Pencil          -2.393         0.677          -0.668         11.707         88.229         0              45
   6  CreditCard      -2.620         0.680          -0.359         0              90             0              45
   7  KeyChain        1.708          0.361          -2.987         0              270            0              33
   8  Laptop          -1.874         0.617          -2.061         0              0              0              23
   9  Book            -1.025         0.618          -1.461         0              0              0              23
  10  CreditCard      2.544          1.228          1.168          0              270            0              43
  11  Pen             -2.484         0.686          -3.304         0              90             0              38
  12  Pencil          2.556          0.901          -3.251         0              0              0              36
  13  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              23
  14  Laptop          -1.874         0.617          -2.461         0              0              0              23
  15  AlarmClock      -2.394         0.684          -3.227         0              90             0              38
  16  CellPhone       2.188          0.307          -0.519         0              0              0              31
  17  KeyChain        -2.530         0.681          -0.359         0              270            0              45
  18  Pillow          -2.124         0.658          -1.522         0              28.296         0              23
  19  Pillow          -1.308         0.680          -2.261         0              0              0              23
  20  CD              2.728          0.896          -3.044         0              0              0              36
  21  Mug             2.638          1.226          1.168          0              270            0              43
  22  Bowl            1.840          0.889          -3.239         0              0              0              36
  23  Bed             -1.613         -0.028         -1.861         0              270            0
  24  DeskLamp        2.760          0.890          -3.317         0              90             0
  25  DeskLamp        -2.459         0.668          -0.532         0              90             0
  26  LightSwitch     -0.700         1.016          0.334          0              90             0
  27  GarbageCan      1.343          1.087          -3.374         0              0              0
  28  Mirror          0.532          1.419          2.0            0              0              0
  29  Window          -0.834         1.394          -3.653         90             0              0
  30  Window          2.958          1.508          -1.019         90             270            0
  31  Sofa            2.383          0.008          -0.288         0              270            0
  32  Safe            2.721          1.228          1.784          0              270            0
  33  Drawer          1.979          0.486          -2.988         0              0              0
  34  Drawer          1.979          0.728          -2.988         0              0              0
  35  Drawer          1.979          0.208          -2.988         0              0              0
  36  Desk            2.318          -0.009         -3.214         0              0              0
  37  Drawer          -2.349         0.163          -3.150         0              90             0
  38  SideTable       -2.416         -0.001         -3.149         0              90             0
  39  Drawer          -2.349         0.455          -3.150         0              90             0
  40  Drawer          2.641          0.172          1.511          0              270            0
  41  Drawer          2.641          1.002          1.511          0              270            0
  42  Drawer          2.641          0.448          1.511          0              270            0
  43  Dresser         2.676          0.002          1.511          0              270            0
  44  Drawer          2.641          0.725          1.511          0              270            0
  45  SideTable       -2.416         -0.001         -0.514         0              90             0
  46  Drawer          -2.349         0.163          -0.514         0              90             0
  47  Drawer          -2.349         0.455          -0.514         0              90             0
  48  Blinds          -0.800         2.087          -3.627         0              0              0
  49  Blinds          2.931          2.166          -1.0           0              270            0
  50  Chair           2.574          0.002          -2.881         0              175.162        0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn right, hang a right at the wall and walk to the small wooden side table ahead. | STEP 2: Pick up the yellow pen behind the clock on top of the side table. | STEP 3: Turn around, hang a left at the end of the window and turn left at the far edge of the bed to reach the wooden side table with the small lamp. | STEP 4: Turn on the small lamp on the middle of the table. | END