Task: Carry a pen while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.998          -1.75          0              90             0
   1  Pen             -3.429         0.884          -0.893         0              0              0              29
   2  Pen             -3.650         0.884          -1.287         0              0              0              29
   3  KeyChain        -3.872         0.881          -1.483         0              0              0              29
   4  Laptop          -0.827         0.452          -0.817         0              0              0              30
   5  Laptop          -1.354         0.452          -0.738         0              270            0              30
   6  Box             -2.863         1.03           -0.958         0              0              0              29
   7  Pillow          0.629          0.482          -1.667         0              0              0              26
   8  CreditCard      -1.091         0.454          -0.658         0              0              0              30
   9  Plate           -0.135         0.979          -2.533         0              90             0              38
  10  Laptop          -0.557         0.523          0.960          0              0              0              34
  11  RemoteControl   0.492          0.306          -1.698         0              0              0              26
  12  Vase            -0.827         0.459          -0.578         0              0              0              30
  13  Statue          0.257          0.965          -2.518         0              0              0              38
  14  KeyChain        -3.207         0.881          -0.893         0              0              0              29
  15  Pen             -1.872         0.183          -2.955         0              225            0              21
  16  Curtains        -3.013         1.557          -3.082         0              0              0
  17  Television      -1.063         0.939          -2.439         0              0              0
  18  HousePlant      0.753          0.855          -2.467         0              215.129        0
  19  HousePlant      0.739          0.855          -1.159         0              310.776        0
  20  FloorLamp       -2.186         0.096          1.111          0              0              0
  21  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  22  Painting        -4.326         1.817          -1.223         90             270            0
  23  Window          0.010          1.087          0.001          90             270            0
  24  Window          -2.983         1.544          -3.220         90             180            0
  25  LightSwitch     -3.907         1.371          1.386          0              180            0
  26  ArmChair        0.662          0.103          -1.781         0              270            0
  27  Stool           0.765          0.108          -1.148         0              0              0
  28  Stool           0.765          0.108          -2.460         0              35.380         0
  29  DiningTable     -3.428         0.099          -1.188         0              0              0
  30  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  31  Chair           -3.793         0.098          -0.841         0              164.999        0
  32  Chair           -3.073         0.098          -1.515         0              11.313         0
  33  Chair           -3.810         0.098          -1.549         0              352.857        0
  34  Sofa            -0.905         0.099          0.959          0              180            0
  35  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  36  Chair           -3.068         0.098          -0.882         0              180            0
  37  Drawer          -0.031         0.872          -2.487         0              0              0
  38  SideTable       -0.030         0.097          -2.552         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move across the room to the left side of the white table  | STEP 2: Pick up the pen that is sitting on top of the table | STEP 3: Carry the pen over to the floor lamp on the left side of the couch | STEP 4: Turn on the floor lamp | END