Task: Pick up the red pen and turn on the 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            0.900          -2.5           0              180            0
   1  Mug             -2.484         0.679          -3.304         0              90             0              37
   2  Mug             1.867          0.894          -3.044         0              0              0              35
   3  Pen             -2.620         0.686          -3.304         0              90             0              37
   4  Pen             -2.394         0.679          -3.150         0              90             0              37
   5  CreditCard      -2.476         0.374          -0.513         0              270            0              46
   6  CreditCard      2.211          0.896          -3.044         0              0              0              35
   7  AlarmClock      2.039          0.900          -3.251         0              0              0              35
   8  Book            -0.742         0.618          -2.061         0              0              0              22
   9  CreditCard      2.010          0.643          -3.100         0              0              0              33
  10  Pen             2.591          1.234          1.397          0              270            0              42
  11  Pencil          -2.620         0.685          -3.149         0              90             0              37
  12  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              22
  13  Laptop          -1.31          0.612          -1.542         0              0              0              22
  14  AlarmClock      -2.447         0.674          -2.988         0              0              0              37
  15  CellPhone       -2.484         0.680          -0.746         0              90             0              44
  16  KeyChain        2.779          1.228          1.397          0              270            0              42
  17  Pillow          -2.124         0.658          -1.522         0              28.296         0              22
  18  Pillow          -2.378         0.637          -2.330         0              0              0              22
  19  CD              2.764          1.249          1.825          0              0              0              31
  20  Mug             1.694          0.894          -3.320         0              0              0              35
  21  Bowl            1.840          0.889          -3.239         0              0              0              35
  22  Bed             -1.613         -0.028         -1.861         0              270            0
  23  DeskLamp        2.760          0.890          -3.317         0              90             0
  24  DeskLamp        -2.459         0.668          -0.532         0              90             0
  25  LightSwitch     -0.700         1.016          0.334          0              90             0
  26  GarbageCan      1.343          1.087          -3.374         0              0              0
  27  Mirror          0.532          1.419          2.0            0              0              0
  28  Window          -0.834         1.394          -3.653         90             0              0
  29  Window          2.958          1.508          -1.019         90             270            0
  30  Sofa            2.383          0.008          -0.288         0              270            0
  31  Safe            2.721          1.228          1.784          0              270            0
  32  Drawer          1.979          0.486          -2.988         0              0              0
  33  Drawer          1.979          0.728          -2.988         0              0              0
  34  Drawer          1.979          0.208          -2.988         0              0              0
  35  Desk            2.318          -0.009         -3.214         0              0              0
  36  Drawer          -2.349         0.163          -3.150         0              90             0
  37  SideTable       -2.416         -0.001         -3.149         0              90             0
  38  Drawer          -2.349         0.455          -3.150         0              90             0
  39  Drawer          2.641          0.172          1.511          0              270            0
  40  Drawer          2.641          1.002          1.511          0              270            0
  41  Drawer          2.641          0.448          1.511          0              270            0
  42  Dresser         2.676          0.002          1.511          0              270            0
  43  Drawer          2.641          0.725          1.511          0              270            0
  44  SideTable       -2.416         -0.001         -0.514         0              90             0
  45  Drawer          -2.349         0.163          -0.514         0              90             0
  46  Drawer          -2.349         0.455          -0.514         0              90             0
  47  Blinds          -0.800         2.087          -3.627         0              0              0
  48  Blinds          2.931          2.166          -1.0           0              270            0
  49  Chair           2.574          0.002          -2.881         0              175.162        0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn right at the wooden desk and walk to the wooden nightstand to the left of the bed. | STEP 2: Pick up the red pen on the desk. | STEP 3: Circle around the bed to the nightstand on the right side of the bed. | STEP 4: Turn on the lamp on the nightstand. | END