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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.937          -1.0           0              270            0
   1  CellPhone       1.615          0.097          -3.049         0              90             0              50
   2  Pen             -0.602         1.121          -2.732         0              0              0              32
   3  Pen             -0.276         0.588          -2.934         0              0              0              27
   4  Pencil          -0.982         0.587          -2.882         0              0              0              28
   5  Pencil          1.607          0.556          2.396          0              0              0              52
   6  CreditCard      -0.187         0.084          -2.726         0              0              0              31
   7  RemoteControl   -0.543         0.087          -2.934         0              0              0              31
   8  RemoteControl   -3.495         0.193          3.271          0              149.999        0              51
   9  Laptop          0.104          0.830          0.495          0              0              0              25
  10  Laptop          1.243          0.830          1.215          0              0              0              25
  11  Book            1.243          0.832          1.456          0              0              0              25
  12  AlarmClock      -1.227         1.118          -2.902         0              0              0              32
  13  CellPhone       1.528          0.836          1.456          0              0              0              25
  14  Pillow          1.785          0.87           0.309          0              270            0              25
  15  Pillow          0.673          0.940          0.495          0              0              0              25
  16  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  17  CreditCard      -0.454         0.083          -2.726         0              0              0              31
  18  KeyChain        -0.276         0.585          -2.726         0              270            0              27
  19  Pencil          1.968          0.556          2.539          0              90             0              52
  20  Laptop          -1.901         1.104          -2.965         0              0              0              32
  21  RemoteControl   -3.310         0.193          3.273          0              149.999        0              51
  22  CD              1.068          0.077          -2.741         0              0              0              29
  23  Pen             -1.227         1.121          -3.073         0              0              0              32
  24  Mug             -2.745         0.080          -3.214         0              0              0              26
  25  Bed             0.967          0.049          0.667          0              90             0
  26  Cabinet         -3.0           1.497          -2.643         0              0              0
  27  Drawer          -0.365         0.785          -2.848         0              0              0
  28  Drawer          -1.159         0.785          -2.848         0              0              0
  29  Cabinet         2.064          1.497          -2.643         0              0              0
  30  Drawer          -1.159         0.285          -2.848         0              0              0
  31  Drawer          -0.365         0.285          -2.848         0              0              0
  32  Desk            -1.271         1.169          -2.987         0              0              0
  33  LightSwitch     -0.159         1.281          3.999          0              180            0
  34  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  35  HousePlant      -0.195         1.105          -3.084         0              0              0
  36  DeskLamp        1.863          0.581          2.431          0              0              0
  37  Mirror          -1.603         1.447          3.999          0              0              0
  38  Television      -3.883         1.771          2.122          0              90             0
  39  Window          -1.952         2.148          -3.302         90             180            0
  40  Window          -0.467         2.148          -3.302         90             180            0
  41  Window          -3.894         1.751          0.582          90             270            0
  42  Window          -3.894         1.751          -0.675         90             270            0
  43  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  44  ArmChair        -0.948         0.051          3.583          0              175.988        0
  45  ArmChair        -2.172         0.051          3.598          0              180            0
  46  Blinds          -0.477         2.785          -3.253         0              0              0
  47  Blinds          -1.957         2.785          -3.253         0              0              0
  48  Blinds          -3.799         2.506          0.602          0              90             0
  49  Blinds          -3.799         2.506          -0.647         0              90             0
  50  Safe            1.673          0.054          -3.004         0              0              0
  51  ArmChair        -3.349         0.051          3.375          0              150.096        0
  52  SideTable       1.775          0.048          2.377          0              0              0
  53  Chair           -2.002         0.050          -2.532         0              165.000        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn around, walk forward to the front of the bed, then turn right and walk to the pen on the counter. | STEP 2: Pick up the pen from the counter. | STEP 3: Turn around, walk forward all the way across the room to the chair, then turn right and walk to the lamp on the small table. | STEP 4: Turn on the lamp. | END