Task: Turn on the lamp while holding the pen.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -1.0           0              0              0
   1  TissueBox       -0.185         0.459          -0.691         0              0              0              42
   2  TissueBox       2.112          0.454          -0.767         0              0              0              37
   3  Newspaper       2.033          0.472          0.186          0              180            0              36
   4  Newspaper       1.586          0.334          1.600          0              0              0              44
   5  Pencil          -0.624         0.843          -0.623         0              0              0              40
   6  KeyChain        1.792          0.336          1.892          0              270            0              44
   7  KeyChain        -0.512         0.840          -0.916         0              0              0              40
   8  CreditCard      1.682          0.840          -0.623         0              0              0              38
   9  CreditCard      2.439          0.322          1.583          0              90             0              35
  10  RemoteControl   2.009          0.066          -0.767         0              0              0              41
  11  RemoteControl   1.324          0.478          0.431          0              180            0              36
  12  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  13  Newspaper       1.904          0.451          -0.729         0              0              0              37
  14  Laptop          1.805          0.47           0.499          0              0              0              36
  15  WateringCan     1.621          0.056          -0.697         0              0              0              41
  16  TissueBox       1.324          0.479          0.186          0              180            0              36
  17  KeyChain        2.220          0.066          -0.767         0              0              0              41
  18  Pen             3.967          0.883          1.076          0              0              0              45
  19  Boots           4.005          0.001          1.707          1.563          246.167        0
  20  Pencil          0.025          0.071          -0.691         0              0              0              39
  21  RemoteControl   1.183          0.474          0.267          0              180            0              36
  22  CreditCard      1.608          0.477          0.267          0              180            0              36
  23  Pillow          0.651          0.395          1.708          0              0              0              26
  24  Statue          4.007          0.878          0.760          0              270            0              45
  25  Statue          -0.081         0.057          -0.692         0              0              0              39
  26  Sofa            1.174          0.0            1.865          0              0              0
  27  FloorLamp       3.608          0.000          2.163          0              0              0
  28  GarbageCan      3.833          -0.029         -0.495         0              0              0
  29  Television      1.897          1.281          -0.838         0              0              0
  30  Painting        4.070          1.950          0.848          90             270            0
  31  HousePlant      0.387          0.801          -0.725         0              90             0
  32  Window          0.023          2.072          2.484          90             180            0
  33  Window          1.570          2.072          2.484          90             180            0
  34  LightSwitch     -1.399         1.289          1.835          0              90             0
  35  ArmChair        2.655          0.000          1.858          0              180            0
  36  CoffeeTable     1.591          -0.000         0.446          0              180            0
  37  Shelf           1.905          0.588          -0.730         0              0              0
  38  TVStand         1.904          -0.000         -0.770         0              0              0
  39  Shelf           -0.289         0.200          -0.732         0              0              0
  40  TVStand         -0.290         -0.000         -0.772         0              0              0
  41  Shelf           1.905          0.200          -0.730         0              0              0
  42  Shelf           -0.289         0.588          -0.732         0              0              0
  43  ArmChair        -0.270         0.000          1.870          0              181.372        0
  44  Sofa            1.193          0.008          1.865          0              180            0
  45  SideTable       3.946          0.000          0.865          0              270            0
  46  Drawer          3.882          0.774          0.864          0              270            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn right then left then right again and reach the table with the gold hand on it. | STEP 2: Pick up the blue pen from the table. | STEP 3: Turn left and face the lamp. | STEP 4: Turn on the lamp. | END