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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.902          0.25           0              0              0
   1  CD              2.554          0.190          0.706          0              0              0              49
   2  CellPhone       2.601          0.353          -0.303         0              0              0              46
   3  Book            2.554          0.191          -0.128         0              0              0              47
   4  Book            -0.209         0.730          0.172          0              0              0              20
   5  AlarmClock      0.553          0.832          -2.383         0              0              0              39
   6  Box             0.252          0.227          -2.042         0              29.078         0
   7  Book            2.590          0.814          0.404          0              74.999         0              42
   8  Statue          2.641          0.827          -0.134         0              270            0              50
   9  CellPhone       -0.788         0.730          1.232          0              0              0              20
  10  Pillow          0.148          0.744          1.738          0              195.270        0              20
  11  Pillow          -0.441         0.738          1.64           0              348.951        0              20
  12  BasketBall      -1.231         0.121          -0.18          0              0              0
  13  CreditCard      2.554          0.033          0.706          0              0              0              48
  14  KeyChain        -0.858         0.427          -1.752         0              0              0              32
  15  Pencil          2.765          0.824          0.812          0              270            0              50
  16  AlarmClock      -0.950         0.708          -1.724         0              0              0              30
  17  Laptop          -0.535         0.781          0.402          0              59.999         0              20
  18  CD              2.579          0.821          0.054          0              270            0              50
  19  Pen             0.418          0.838          -2.383         0              0              0              39
  20  Bed             -0.209         -0.001         0.983          0              0              0
  21  LightSwitch     0.778          1.266          2.128          0              180            0
  22  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  23  Painting        2.063          1.674          -1.865         83.723         0              0
  24  HousePlant      -0.808         0.953          -1.730         0              0              0
  25  Painting        1.871          0.393          -1.792         79.235         0              0
  26  Mirror          2.842          1.404          1.375          0              90             0
  27  DeskLamp        2.676          0.819          0.878          0              0              0
  28  Window          -1.700         1.444          -0.542         90             90             0
  29  Window          0.535          1.412          -2.618         90             0              0
  30  Shelf           -0.904         0.824          -1.754         0              0              0
  31  Shelf           -0.802         0.981          -1.756         0              0              0
  32  Shelf           -0.904         0.555          -1.754         0              0              0
  33  Shelf           -0.327         0.225          -1.754         0              0              0
  34  Shelf           -0.439         0.822          -1.754         0              0              0
  35  Shelf           -0.619         0.981          -1.754         0              0              0
  36  Shelf           -0.439         0.556          -1.754         0              0              0
  37  Shelf           -0.709         0.225          -1.754         0              0              0
  38  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  39  Stool           0.799          0.004          -2.105         0              0              0
  40  Blinds          0.542          2.135          -2.553         0              0              0
  41  Blinds          -1.645         2.145          -0.546         0              90             0
  42  Drawer          2.518          0.574          0.623          0              270            0
  43  Drawer          2.517          0.411          0.623          0              270            0
  44  Drawer          2.518          0.732          0.623          0              270            0
  45  Drawer          2.518          0.732          -0.119         0              270            0
  46  Drawer          2.517          0.411          -0.119         0              270            0
  47  Drawer          2.517          0.247          -0.119         0              270            0
  48  Drawer          2.517          0.090          0.623          0              270            0
  49  Drawer          2.517          0.247          0.623          0              270            0
  50  Dresser         2.555          0.003          0.252          0              270            0
  51  Drawer          2.518          0.574          -0.119         0              270            0
  52  Drawer          2.517          0.090          -0.119         0              270            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn around, make a right at the foot of the bed, then turn left and walk up to the window ledge.  | STEP 2: Pick up the pen that is to the right of the alarm clock on the ledge.  | STEP 3: Turn around, walk to the bed, make a right, then immediate left, walk to the door, turn right, walk to the mirror on the wall, then turn right to face the side of the dresser. | STEP 4: Turn on the lamp that sits on the side of the dresser. | END