Task: Look at a pen under a lit lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          1.25           0              90             0
   1  Bowl            1.226          0.911          -0.393         0              270            0              31
   2  Bowl            -1.544         1.521          -1.571         0              270            0              34
   3  Pen             1.226          1.416          -0.093         0              270            0              33
   4  Pen             -1.582         0.702          -1.610         0              0              0              45
   5  CreditCard      -1.510         1.521          -1.859         0              270            0              34
   6  Book            -1.323         0.610          -1.065         0              0              0              22
   7  KeyChain        1.192          1.412          -0.238         0              270            0              31
   8  BaseballBat     1.436          0.636          1.985          21.882         0              0
   9  BasketBall      1.270          0.12           -1.290         0              345.557        0
  10  Pencil          1.277          0.243          -1.963         0              0              0              20
  11  CellPhone       1.269          0.505          -1.764         0              270            0              23
  12  CreditCard      1.192          0.911          -0.249         0              270            0              31
  13  Laptop          -1.443         0.609          0.618          0              0              0              22
  14  Pillow          -1.082         0.713          0.057          0              0              0              22
  15  Boots           1.288          0.000          -0.961         0              177.912        0
  16  Pen             -1.582         0.705          -2.191         0              0              0              45
  17  AlarmClock      0.937          0.576          -2.482         0              0              0              40
  18  CD              -1.400         0.395          -1.832         0              0              0              46
  19  Bowl            1.293          1.410          -0.382         0              270            0              33
  20  Drawer          0.980          0.271          -1.963         0              0              0
  21  Drawer          0.980          0.139          -1.963         0              0              0
  22  Bed             -1.209         0.016          -0.266         0              180            1.624
  23  Shelf           1.220          0.859          -1.802         0              270            0
  24  Drawer          0.980          0.404          -1.963         0              0              0
  25  Drawer          0.980          0.272          -1.639         0              0              0
  26  Mirror          0.740          1.491          2.099          0              0              0
  27  Drawer          0.980          0.139          -1.639         0              0              0
  28  Drawer          0.980          0.404          -1.639         0              0              0
  29  Chair           0.280          -0.001         -2.264         0              180            0
  30  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  31  Shelf           1.259          0.903          -0.269         0              270            0
  32  Shelf           1.259          0.375          -0.263         0              270            0
  33  Shelf           1.259          1.402          -0.259         0              270            0
  34  Shelf           -1.577         1.513          -2.025         0              270            0
  35  LightSwitch     -0.755         1.176          2.099          0              180            0
  36  DeskLamp        -1.489         0.669          -2.419         0              0              0
  37  Window          0.243          0.963          -2.678         90             0              0
  38  Window          -0.361         0.963          -2.679         90             0              0
  39  Window          -0.962         0.963          -2.678         90             0              0
  40  Desk            0.445          0.001          -2.430         0              0              0
  41  Blinds          -0.349         2.186          -2.685         0              0              0
  42  Blinds          0.250          2.186          -2.685         0              0              0
  43  Blinds          -0.952         2.186          -2.685         0              0              0
  44  Drawer          -1.314         0.163          -2.051         0              90             0
  45  SideTable       -1.444         -0.001         -2.051         0              90             0
  46  Drawer          -1.314         0.455          -2.051         0              90             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around, walk towards the far wall, then make a right to reach the dresser in the corner. | STEP 2: Pick up the pen next to the lamp. | STEP 3: Move to face the lamp. | STEP 4: Turn on the lamp on the dresser. | END