Task: examine a pen by the light of the lamp that is sitting on the dresser

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            0.902          0.25           0              0              0
   1  CD              2.554          0.190          0.706          0              0              0              49
   2  CellPhone       2.601          0.353          -0.303         0              0              0              46
   3  Book            2.554          0.191          -0.128         0              0              0              47
   4  Book            -0.209         0.730          0.172          0              0              0              20
   5  AlarmClock      0.553          0.832          -2.383         0              0              0              39
   6  Box             0.252          0.227          -2.042         0              29.078         0
   7  Book            2.590          0.814          0.404          0              74.999         0              42
   8  Statue          2.641          0.827          -0.134         0              270            0              50
   9  CellPhone       -0.788         0.730          1.232          0              0              0              20
  10  Pillow          0.148          0.744          1.738          0              195.270        0              20
  11  Pillow          -0.441         0.738          1.64           0              348.951        0              20
  12  BasketBall      -1.231         0.121          -0.18          0              0              0
  13  CreditCard      2.554          0.033          0.706          0              0              0              48
  14  KeyChain        -0.858         0.427          -1.752         0              0              0              32
  15  Pencil          2.765          0.824          0.812          0              270            0              50
  16  AlarmClock      -0.950         0.708          -1.724         0              0              0              30
  17  Laptop          -0.535         0.781          0.402          0              59.999         0              20
  18  CD              2.579          0.821          0.054          0              270            0              50
  19  Pen             0.418          0.838          -2.383         0              0              0              39
  20  Bed             -0.209         -0.001         0.983          0              0              0
  21  LightSwitch     0.778          1.266          2.128          0              180            0
  22  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  23  Painting        2.063          1.674          -1.865         83.723         0              0
  24  HousePlant      -0.808         0.953          -1.730         0              0              0
  25  Painting        1.871          0.393          -1.792         79.235         0              0
  26  Mirror          2.842          1.404          1.375          0              90             0
  27  DeskLamp        2.676          0.819          0.878          0              0              0
  28  Window          -1.700         1.444          -0.542         90             90             0
  29  Window          0.535          1.412          -2.618         90             0              0
  30  Shelf           -0.904         0.824          -1.754         0              0              0
  31  Shelf           -0.802         0.981          -1.756         0              0              0
  32  Shelf           -0.904         0.555          -1.754         0              0              0
  33  Shelf           -0.327         0.225          -1.754         0              0              0
  34  Shelf           -0.439         0.822          -1.754         0              0              0
  35  Shelf           -0.619         0.981          -1.754         0              0              0
  36  Shelf           -0.439         0.556          -1.754         0              0              0
  37  Shelf           -0.709         0.225          -1.754         0              0              0
  38  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  39  Stool           0.799          0.004          -2.105         0              0              0
  40  Blinds          0.542          2.135          -2.553         0              0              0
  41  Blinds          -1.645         2.145          -0.546         0              90             0
  42  Drawer          2.518          0.574          0.623          0              270            0
  43  Drawer          2.517          0.411          0.623          0              270            0
  44  Drawer          2.518          0.732          0.623          0              270            0
  45  Drawer          2.518          0.732          -0.119         0              270            0
  46  Drawer          2.517          0.411          -0.119         0              270            0
  47  Drawer          2.517          0.247          -0.119         0              270            0
  48  Drawer          2.517          0.090          0.623          0              270            0
  49  Drawer          2.517          0.247          0.623          0              270            0
  50  Dresser         2.555          0.003          0.252          0              270            0
  51  Drawer          2.518          0.574          -0.119         0              270            0
  52  Drawer          2.517          0.090          -0.119         0              270            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: turn around and move to the shelf that is just below the window where the alarm clock is sitting | STEP 2: pick up the pen off of the shelf that is to the right of the alarm clock | STEP 3: turn around and move to the bed, go around the bed and move toward the door, at the door turn right and move to the side of the dresser with the lamp, turn to face the lamp | STEP 4: turn on the lamp | END