Task: turn on  a lamp while holding a pen

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          0.901          0.5            0              0              0
   1  CD              -1.787         0.286          1.581          0              270            0              40
   2  CD              1.744          0.049          1.706          0              270            0              29
   3  CellPhone       -1.787         0.066          1.581          0              270            0              39
   4  Pen             -1.681         0.071          1.381          0              270            0              39
   5  Pen             1.589          0.717          0.215          0              270            0              45
   6  Pen             1.679          0.717          0.409          0              270            0              45
   7  CreditCard      -1.936         1.071          1.492          0              270            0              41
   8  KeyChain        -1.815         0.675          1.206          0              0              0              42
   9  KeyChain        -1.681         0.287          1.315          0              0              0              40
  10  Pillow          -0.823         0.618          -0.408         0              0              0              26
  11  Laptop          -0.344         0.538          -0.408         0              0              0              26
  12  Book            -0.583         0.540          -0.830         0              0              0              26
  13  AlarmClock      -1.695         0.640          0.448          0              180            0              42
  14  BasketBall      1.510          0.120          -0.105         0              0              0
  15  TeddyBear       -1.7           0.475          -0.331         0              225            0              26
  16  TennisRacket    1.551          0.000          0.654          270            336.082        0
  17  Pen             0.647          0.690          -1.580         0              0              0              34
  18  Pencil          -1.734         0.510          1.381          0              270            0              38
  19  KeyChain        -1.628         0.287          1.381          0              270            0              40
  20  CreditCard      1.769          0.711          0.796          0              270            0              45
  21  Laptop          1.589          0.709          0.990          0              270            0              45
  22  CellPhone       -1.617         0.676          0.919          0              0              0              42
  23  Pillow          -1.301         0.618          -0.971         0              0              0              26
  24  CD              -1.875         1.071          1.351          0              270            0              41
  25  Curtains        1.865          2.039          -0.495         0              0              0
  26  Bed             -1.037         0.009          -0.690         0              270            0
  27  Mirror          0.549          1.494          1.880          0              0              0
  28  Curtains        0.486          2.035          -1.853         0              90             0
  29  GarbageCan      1.683          -0.018         1.670          0              270            0
  30  LightSwitch     -0.119         1.317          1.853          0              180            0
  31  DeskLamp        -1.845         1.057          0.756          0              0              0
  32  Window          1.932          1.409          -0.507         90             270            0
  33  Window          0.481          1.411          -1.932         90             0              0
  34  SideTable       0.626          0.0            -1.705         0              0              0
  35  Footstool       0.176          0.006          -0.358         0              0              0
  36  Dumbbell        1.596          0.715          0.772          0              0              0
  37  Dumbbell        1.776          0.717          0.772          0              0              0
  38  Shelf           -1.700         0.573          1.540          0              90             0
  39  Shelf           -1.700         0.156          1.540          0              90             0
  40  Shelf           -1.700         0.377          1.540          0              90             0
  41  Shelf           -1.839         1.084          1.235          0              90             0
  42  Desk            -1.722         0.003          0.920          0              90             0
  43  Footstool       0.175          0.004          -0.652         0              0              0
  44  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  45  Desk            1.519          1.823          0.385          0              270            0
  46  Chair           -1.459         0.003          0.929          0              292.527        0
  47  NorthWall
  48  EastWall
  49  WestWall

Plan:
STEP 1: turn around to the cupboard | STEP 2: pick up the pen on the cupboard | STEP 3: turn right and head to the lamp on the cupboard | STEP 4: turn on the lamp | END