Task: Look at the pen under light from the floor lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.998          -0.25          0              0              0
   1  Pen             0.254          0.867          -2.531         0              180            0              41
   2  Pen             -3.429         0.884          -1.090         0              0              0              33
   3  Pen             -0.240         0.977          -2.493         0              90             0              42
   4  KeyChain        -0.316         0.860          -2.506         0              90             0              41
   5  KeyChain        -1.428         0.525          0.772          0              0              0              38
   6  CreditCard      -1.159         0.445          -2.481         0              180            0              39
   7  RemoteControl   -3.650         0.880          -1.287         0              0              0              33
   8  RemoteControl   -0.240         0.972          -2.572         0              90             0              42
   9  Laptop          -0.959         0.452          -0.817         0              0              0              34
  10  Box             -2.863         1.03           -0.958         0              0              0              33
  11  Pillow          0.629          0.482          -1.667         0              0              0              30
  12  CreditCard      0.748          0.304          -1.782         0              0              0              30
  13  Plate           -3.851         0.875          -1.011         0              0              0              33
  14  Laptop          -1.254         0.523          0.897          0              0              0              38
  15  RemoteControl   -4.094         0.882          -1.188         0              0              0              33
  16  Vase            -1.486         0.459          -0.897         0              0              0              34
  17  Statue          0.257          0.965          -2.518         0              0              0              42
  18  KeyChain        -0.906         0.525          0.772          0              0              0              38
  19  Pen             -0.695         0.459          -0.498         0              0              0              34
  20  Curtains        -3.013         1.557          -3.082         0              0              0
  21  Television      -1.063         0.939          -2.439         0              0              0
  22  HousePlant      0.753          0.855          -2.467         0              215.129        0
  23  HousePlant      0.739          0.855          -1.159         0              310.776        0
  24  FloorLamp       -2.186         0.096          1.111          0              0              0
  25  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  26  Painting        -4.326         1.817          -1.223         90             270            0
  27  Window          0.010          1.087          0.001          90             270            0
  28  Window          -2.983         1.544          -3.220         90             180            0
  29  LightSwitch     -3.907         1.371          1.386          0              180            0
  30  ArmChair        0.662          0.103          -1.781         0              270            0
  31  Stool           0.765          0.108          -1.148         0              0              0
  32  Stool           0.765          0.108          -2.460         0              35.380         0
  33  DiningTable     -3.428         0.099          -1.188         0              0              0
  34  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  35  Chair           -3.793         0.098          -0.841         0              164.999        0
  36  Chair           -3.073         0.098          -1.515         0              11.313         0
  37  Chair           -3.810         0.098          -1.549         0              352.857        0
  38  Sofa            -0.905         0.099          0.959          0              180            0
  39  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  40  Chair           -3.068         0.098          -0.882         0              180            0
  41  Drawer          -0.031         0.872          -2.487         0              0              0
  42  SideTable       -0.030         0.097          -2.552         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and face toward the large white table | STEP 2: Pick up the dark pen from the table | STEP 3: Turn around and walk up to the floor lamp by the sofa | STEP 4: Turn on the floor lamp | END