Task: Pick up a pen to look at 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           -0.25          0.900          -2.0           0              270            0
   1  CellPhone       -0.842         0.611          -1.065         0              0              0              23
   2  CellPhone       -1.394         0.697          -1.900         0              0              0              46
   3  Pencil          1.293          1.416          0.195          0              270            0              34
   4  Pencil          1.224          0.243          -1.929         0              0              0              21
   5  Laptop          -1.443         0.609          0.618          0              0              0              23
   6  AlarmClock      -1.510         1.521          -2.004         0              270            0              35
   7  Book            0.623          0.569          -2.471         0              350.999        0              30
   8  KeyChain        0.309          0.578          -2.373         0              0              0              41
   9  BaseballBat     1.436          0.636          1.985          21.882         0              0
  10  BasketBall      1.270          0.12           -1.290         0              345.557        0
  11  Pencil          1.260          0.916          0.039          0              270            0              32
  12  CellPhone       1.329          0.371          -1.639         0              0              0              29
  13  CreditCard      -0.003         0.576          -2.592         0              0              0              41
  14  Laptop          -1.082         0.609          -0.223         0              0              0              23
  15  Pillow          -1.170         0.684          -0.990         0              0              0              23
  16  Boots           1.288          0.000          -0.961         0              177.912        0
  17  Pen             -1.519         0.702          -1.755         0              0              0              46
  18  AlarmClock      -1.457         0.696          -2.191         0              0              0              46
  19  CD              1.293          0.910          -0.104         0              270            0              32
  20  Bowl            -1.544         1.521          -2.437         0              270            0              35
  21  Drawer          0.980          0.271          -1.963         0              0              0
  22  Drawer          0.980          0.139          -1.963         0              0              0
  23  Bed             -1.209         0.016          -0.266         0              180            1.624
  24  Shelf           1.220          0.859          -1.802         0              270            0
  25  Drawer          0.980          0.404          -1.963         0              0              0
  26  Drawer          0.980          0.272          -1.639         0              0              0
  27  Mirror          0.740          1.491          2.099          0              0              0
  28  Drawer          0.980          0.139          -1.639         0              0              0
  29  Drawer          0.980          0.404          -1.639         0              0              0
  30  Chair           0.280          -0.001         -2.264         0              180            0
  31  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  32  Shelf           1.259          0.903          -0.269         0              270            0
  33  Shelf           1.259          0.375          -0.263         0              270            0
  34  Shelf           1.259          1.402          -0.259         0              270            0
  35  Shelf           -1.577         1.513          -2.025         0              270            0
  36  LightSwitch     -0.755         1.176          2.099          0              180            0
  37  DeskLamp        -1.489         0.669          -2.419         0              0              0
  38  Window          0.243          0.963          -2.678         90             0              0
  39  Window          -0.361         0.963          -2.679         90             0              0
  40  Window          -0.962         0.963          -2.678         90             0              0
  41  Desk            0.445          0.001          -2.430         0              0              0
  42  Blinds          -0.349         2.186          -2.685         0              0              0
  43  Blinds          0.250          2.186          -2.685         0              0              0
  44  Blinds          -0.952         2.186          -2.685         0              0              0
  45  Drawer          -1.314         0.163          -2.051         0              90             0
  46  SideTable       -1.444         -0.001         -2.051         0              90             0
  47  Drawer          -1.314         0.455          -2.051         0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Make a left to face the dresser next to the wall. | STEP 2: Pick up the pen from the dresser. | STEP 3: Move to face the lamp on the dresser. | STEP 4: Turn on the lamp. | END