Task: grab the blue pen on the floor, turn on the lamp on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.901          -1.5           0              180            0
   1  Bowl            1.490          0.695          -1.806         0              18.354         0              32
   2  Pencil          -0.219         0.697          -2.148         0              90             0              32
   3  CreditCard      0.109          0.692          -1.985         0              90             0              32
   4  CreditCard      1.492          0.473          -0.667         0              270            0              31
   5  KeyChain        1.492          0.473          -0.764         0              270            0              31
   6  Book            -1.171         0.629          -0.748         0              0              0              23
   7  Book            -0.339         0.661          0.556          0              180            0              35
   8  Laptop          -1.346         0.628          -1.023         0              0              0              23
   9  Laptop          -1.346         0.628          -0.473         0              0              0              23
  10  Box             -0.015         0.239          -2.091         0              0              0
  11  Book            1.747          0.692          -0.906         0              0              0              32
  12  BaseballBat     1.798          0.639          0.425          0              0              342.316
  13  Pen             1.492          0.479          -0.862         0              90             0              31
  14  Pencil          -0.291         0.697          -1.980         0              90             0              32
  15  KeyChain        1.684          0.694          -1.576         0              0              0              32
  16  Pillow          -1.694         0.656          0.415          0              0              0              23
  17  CreditCard      1.489          0.692          -2.007         0              18.354         0              32
  18  CellPhone       -2.046         0.631          -1.297         0              0              0              23
  19  Laptop          -2.046         0.628          -1.023         0              0              0              23
  20  CD              1.809          0.692          -1.241         0              0              0              32
  21  Bowl            1.222          0.686          -2.128         0              0              0              32
  22  AlarmClock      0.347          0.694          -2.118         0              99.090         0              32
  23  Bed             -1.696         0.004          -0.446         0              0              0
  24  Chair           0.956          -0.000         -1.747         0              110.225        0
  25  DeskLamp        -0.440         0.688          -2.276         0              0              0
  26  LightSwitch     0.625          1.338          0.734          0              180            0
  27  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  28  Mirror          1.300          1.422          0.765          0              0              0
  29  HousePlant      -0.867         0.000          -2.286         0              0              0
  30  Window          0.819          1.496          -2.553         90             180            0
  31  Shelf           1.616          0.561          -0.802         0              0              0
  32  Desk            0.617          -0.000         -1.511         0              0              0
  33  Blinds          0.796          2.217          -2.476         0              0              0
  34  Drawer          -0.558         0.456          0.462          0              180            0
  35  SideTable       -0.557         -0.000         0.529          0              180            0
  36  Drawer          -0.558         0.164          0.462          0              180            0
  37  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn around, walk to the table | STEP 2: grab the blue pen on the floor | STEP 3: walk to the right a little to the other end of the table | STEP 4: turn on the lamp on the table | END