Task: View a pen by lamp light.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.5            0              270            0
   1  Newspaper       -0.125         0.321          1.879          0              91.372         0              40
   2  Pen             2.033          0.479          0.431          0              180            0              33
   3  KeyChain        0.967          0.336          1.892          0              270            0              23
   4  KeyChain        -0.512         0.840          -0.623         0              0              0              37
   5  CreditCard      3.888          0.876          0.971          0              0              0              42
   6  CreditCard      0.044          0.840          -0.77          0              0              0              37
   7  RemoteControl   1.183          0.478          0.267          0              180            0              33
   8  RemoteControl   1.380          0.337          1.892          0              0              0              41
   9  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  10  Newspaper       1.792          0.334          1.673          0              0              0              41
  11  Laptop          2.656          0.320          1.727          0              180            0              32
  12  WateringCan     1.621          0.056          -0.697         0              0              0              38
  13  TissueBox       1.324          0.475          0.349          0              180            0              33
  14  KeyChain        -0.395         0.069          -0.842         0              90             0              36
  15  Pen             1.324          0.483          0.512          0              180            0              33
  16  Boots           4.005          0.001          1.707          1.563          246.167        0
  17  Pencil          3.967          0.881          0.971          0              0              0              42
  18  RemoteControl   1.904          0.454          -0.691         0              0              0              34
  19  CreditCard      1.586          0.335          1.673          0              0              0              41
  20  Pillow          0.651          0.395          1.708          0              0              0              23
  21  Statue          1.749          0.479          0.431          0              180            0              33
  22  Statue          -0.081         0.057          -0.692         0              0              0              36
  23  Sofa            1.174          0.0            1.865          0              0              0
  24  FloorLamp       3.608          0.000          2.163          0              0              0
  25  GarbageCan      3.833          -0.029         -0.495         0              0              0
  26  Television      1.897          1.281          -0.838         0              0              0
  27  Painting        4.070          1.950          0.848          90             270            0
  28  HousePlant      0.387          0.801          -0.725         0              90             0
  29  Window          0.023          2.072          2.484          90             180            0
  30  Window          1.570          2.072          2.484          90             180            0
  31  LightSwitch     -1.399         1.289          1.835          0              90             0
  32  ArmChair        2.655          0.000          1.858          0              180            0
  33  CoffeeTable     1.591          -0.000         0.446          0              180            0
  34  Shelf           1.905          0.588          -0.730         0              0              0
  35  TVStand         1.904          -0.000         -0.770         0              0              0
  36  Shelf           -0.289         0.200          -0.732         0              0              0
  37  TVStand         -0.290         -0.000         -0.772         0              0              0
  38  Shelf           1.905          0.200          -0.730         0              0              0
  39  Shelf           -0.289         0.588          -0.732         0              0              0
  40  ArmChair        -0.270         0.000          1.870          0              181.372        0
  41  Sofa            1.193          0.008          1.865          0              180            0
  42  SideTable       3.946          0.000          0.865          0              270            0
  43  Drawer          3.882          0.774          0.864          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Go to the table in front of you. | STEP 2: Pick up the pen nearest to you on the table. | STEP 3: Turn around and go to the lamp to the left. | STEP 4: Turn on the lamp. | END