Task: Get the pen and turn on the light

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: Go right across the room and walk to the desk, turn right and walk to the bed, walk left toward the door, walk right toward the dresser, walk left toward the door, walk right to the dresser. | STEP 2: Pick up the pen on the dresser. | STEP 3: Turn left, turn right to the dresser | STEP 4: Turn on the lamp on the dresser. | END