Task: pick up pen, turn on lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -2.25          0              0              0
   1  Pencil          1.226          0.388          -0.242         0              270            0              32
   2  KeyChain        1.327          0.912          -0.249         0              0              0              31
   3  KeyChain        1.327          1.412          0.050          0              0              0              31
   4  CreditCard      1.172          0.238          -2.033         0              0              0              20
   5  Book            -1.443         0.610          -0.504         0              0              0              22
   6  Book            -0.962         0.610          -0.223         0              0              0              22
   7  KeyChain        1.269          0.506          -1.983         0              270            0              23
   8  BaseballBat     1.436          0.636          1.985          21.882         0              0
   9  BasketBall      1.270          0.12           -1.290         0              345.557        0
  10  Pencil          1.192          0.916          -0.682         0              270            0              31
  11  CellPhone       1.172          0.105          -1.639         0              0              0              27
  12  CreditCard      1.260          1.410          0.195          0              270            0              31
  13  Laptop          -1.082         0.609          0.337          0              0              0              22
  14  Pillow          -1.170         0.684          -0.990         0              0              0              22
  15  Boots           1.288          0.000          -0.961         0              177.912        0
  16  Pen             -1.394         0.702          -1.610         0              0              0              45
  17  AlarmClock      1.226          0.911          -0.104         0              270            0              31
  18  CD              0.780          0.576          -2.373         0              0              0              40
  19  Bowl            1.121          0.504          -1.819         0              270            0              23
  20  Drawer          0.980          0.271          -1.963         0              0              0
  21  Drawer          0.980          0.139          -1.963         0              0              0
  22  Bed             -1.209         0.016          -0.266         0              180            1.624
  23  Shelf           1.220          0.859          -1.802         0              270            0
  24  Drawer          0.980          0.404          -1.963         0              0              0
  25  Drawer          0.980          0.272          -1.639         0              0              0
  26  Mirror          0.740          1.491          2.099          0              0              0
  27  Drawer          0.980          0.139          -1.639         0              0              0
  28  Drawer          0.980          0.404          -1.639         0              0              0
  29  Chair           0.280          -0.001         -2.264         0              180            0
  30  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  31  Shelf           1.259          0.903          -0.269         0              270            0
  32  Shelf           1.259          0.375          -0.263         0              270            0
  33  Shelf           1.259          1.402          -0.259         0              270            0
  34  Shelf           -1.577         1.513          -2.025         0              270            0
  35  LightSwitch     -0.755         1.176          2.099          0              180            0
  36  DeskLamp        -1.489         0.669          -2.419         0              0              0
  37  Window          0.243          0.963          -2.678         90             0              0
  38  Window          -0.361         0.963          -2.679         90             0              0
  39  Window          -0.962         0.963          -2.678         90             0              0
  40  Desk            0.445          0.001          -2.430         0              0              0
  41  Blinds          -0.349         2.186          -2.685         0              0              0
  42  Blinds          0.250          2.186          -2.685         0              0              0
  43  Blinds          -0.952         2.186          -2.685         0              0              0
  44  Drawer          -1.314         0.163          -2.051         0              90             0
  45  SideTable       -1.444         -0.001         -2.051         0              90             0
  46  Drawer          -1.314         0.455          -2.051         0              90             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn left, face desk with lamp | STEP 2: pick up white pen from desk | STEP 3: go to the lamp on left end of desk | STEP 4: turn on lamp on desk | END