Task: take the red pen from the desk, turn on the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -2.75          0              90             0
   1  Mug             -2.439         0.679          -0.281         0              90             0              47
   2  Mug             1.694          0.894          -2.975         0              0              0              38
   3  CellPhone       2.678          0.369          1.257          0              270            0              44
   4  Pen             2.039          0.902          -3.320         0              0              0              38
   5  Pen             1.344          0.025          -3.342         0              90             0              29
   6  Pen             2.638          1.234          1.511          0              270            0              45
   7  Pencil          -2.620         0.685          -0.436         0              90             0              47
   8  Pencil          2.211          0.901          -3.044         0              0              0              38
   9  CreditCard      -2.452         0.374          -0.628         0              270            0              49
  10  KeyChain        -2.381         0.374          -3.207         0              0              0              41
  11  Book            -1.308         0.618          -2.261         0              0              0              25
  12  CreditCard      2.544          1.228          1.283          0              270            0              45
  13  Pen             2.591          1.234          1.168          0              270            0              45
  14  Pencil          1.711          0.647          -3.100         0              0              0              36
  15  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              25
  16  Laptop          -2.440         0.617          -1.861         0              0              0              25
  17  AlarmClock      -2.447         0.674          -2.988         0              0              0              40
  18  CellPhone       2.713          0.645          1.764          0              270            0              46
  19  KeyChain        2.779          1.228          1.283          0              270            0              45
  20  Pillow          -2.124         0.658          -1.522         0              28.296         0              25
  21  Pillow          -1.874         0.680          -2.061         0              0              0              25
  22  CD              -2.575         0.680          -0.281         0              90             0              47
  23  Mug             1.867          0.894          -2.975         0              0              0              38
  24  Bowl            -2.530         0.683          -3.227         0              90             0              40
  25  Bed             -1.613         -0.028         -1.861         0              270            0
  26  DeskLamp        2.760          0.890          -3.317         0              90             0
  27  DeskLamp        -2.459         0.668          -0.532         0              90             0
  28  LightSwitch     -0.700         1.016          0.334          0              90             0
  29  GarbageCan      1.343          1.087          -3.374         0              0              0
  30  Mirror          0.532          1.419          2.0            0              0              0
  31  Window          -0.834         1.394          -3.653         90             0              0
  32  Window          2.958          1.508          -1.019         90             270            0
  33  Sofa            2.383          0.008          -0.288         0              270            0
  34  Safe            2.721          1.228          1.784          0              270            0
  35  Drawer          1.979          0.486          -2.988         0              0              0
  36  Drawer          1.979          0.728          -2.988         0              0              0
  37  Drawer          1.979          0.208          -2.988         0              0              0
  38  Desk            2.318          -0.009         -3.214         0              0              0
  39  Drawer          -2.349         0.163          -3.150         0              90             0
  40  SideTable       -2.416         -0.001         -3.149         0              90             0
  41  Drawer          -2.349         0.455          -3.150         0              90             0
  42  Drawer          2.641          0.172          1.511          0              270            0
  43  Drawer          2.641          1.002          1.511          0              270            0
  44  Drawer          2.641          0.448          1.511          0              270            0
  45  Dresser         2.676          0.002          1.511          0              270            0
  46  Drawer          2.641          0.725          1.511          0              270            0
  47  SideTable       -2.416         -0.001         -0.514         0              90             0
  48  Drawer          -2.349         0.163          -0.514         0              90             0
  49  Drawer          -2.349         0.455          -0.514         0              90             0
  50  Blinds          -0.800         2.087          -3.627         0              0              0
  51  Blinds          2.931          2.166          -1.0           0              270            0
  52  Chair           2.574          0.002          -2.881         0              175.162        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: head to the desk | STEP 2: take the red pen from the desk | STEP 3: turn around, take a step to the left, turn around | STEP 4: turn on the lamp | END