Task: examine a pen with 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           -3.0           0.998          -0.25          0              270            0
   1  Pen             -1.354         0.459          -0.578         0              0              0              30
   2  Pen             0.254          0.866          -2.408         0              180            0              37
   3  CreditCard      -0.827         0.454          -0.578         0              0              0              30
   4  Laptop          -0.959         0.452          -0.817         0              0              0              30
   5  Pillow          -0.557         0.605          0.897          0              0              0              34
   6  Box             -2.863         1.03           -0.958         0              0              0              29
   7  Pillow          0.629          0.482          -1.667         0              0              0              26
   8  CreditCard      -0.030         0.972          -2.572         0              90             0              38
   9  Plate           -3.851         0.875          -1.011         0              0              0              29
  10  Laptop          -4.094         0.876          -1.385         0              0              0              29
  11  RemoteControl   -1.506         0.447          -0.758         0              0              0              30
  12  Vase            -3.493         0.874          -1.182         0              0              0              29
  13  Statue          0.257          0.965          -2.518         0              0              0              38
  14  KeyChain        0.577          0.305          -1.614         0              0              0              26
  15  Pen             0.254          0.867          -2.482         0              180            0              37
  16  Curtains        -3.013         1.557          -3.082         0              0              0
  17  Television      -1.063         0.939          -2.439         0              0              0
  18  HousePlant      0.753          0.855          -2.467         0              215.129        0
  19  HousePlant      0.739          0.855          -1.159         0              310.776        0
  20  FloorLamp       -2.186         0.096          1.111          0              0              0
  21  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  22  Painting        -4.326         1.817          -1.223         90             270            0
  23  Window          0.010          1.087          0.001          90             270            0
  24  Window          -2.983         1.544          -3.220         90             180            0
  25  LightSwitch     -3.907         1.371          1.386          0              180            0
  26  ArmChair        0.662          0.103          -1.781         0              270            0
  27  Stool           0.765          0.108          -1.148         0              0              0
  28  Stool           0.765          0.108          -2.460         0              35.380         0
  29  DiningTable     -3.428         0.099          -1.188         0              0              0
  30  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  31  Chair           -3.793         0.098          -0.841         0              164.999        0
  32  Chair           -3.073         0.098          -1.515         0              11.313         0
  33  Chair           -3.810         0.098          -1.549         0              352.857        0
  34  Sofa            -0.905         0.099          0.959          0              180            0
  35  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  36  Chair           -3.068         0.098          -0.882         0              180            0
  37  Drawer          -0.031         0.872          -2.487         0              0              0
  38  SideTable       -0.030         0.097          -2.552         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: turn around, walk towards windows, turn right to face white table | STEP 2: pick up the pen that is on the white table | STEP 3: turn right, turn right, walk to the lamp, hold the pen up to the lamp | STEP 4: turn the lamp on | END