Task: Grab the pencil on the coffee table, turn on the floor lamp in the corner

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.0           0.907          1.0            0              0              0
   1  Plate           -3.930         0.758          -0.502         0              0              0              52
   2  TissueBox       -4.842         0.756          -0.131         0              0              0              51
   3  Watch           0.226          0.198          2.346          0              180            0              43
   4  Vase            -4.477         0.757          -0.379         0              0              0              55
   5  Vase            0.492          0.554          3.056          0              0              0              40
   6  Pencil          0.664          0.555          2.304          0              0              0              40
   7  KeyChain        0.816          0.424          4.121          0              90             0              47
   8  KeyChain        -1.204         0.450          3.031          0              0              0              56
   9  Book            0.319          0.552          2.755          0              0              0              40
  10  CellPhone       -1.087         0.450          2.322          0              0              0              56
  11  CreditCard      -1.554         0.449          3.031          0              0              0              56
  12  CreditCard      0.147          0.551          2.905          0              0              0              40
  13  RemoteControl   0.709          0.426          4.246          0              90             0              47
  14  Book            -1.236         0.880          0.218          0              90             0              57
  15  Box             0.957          0.286          6.189          0              327.955        0              48
  16  Pillow          0.438          0.581          5.162          321.968        0              0              48
  17  Bowl            -4.477         0.756          -0.008         0              0              0              49
  18  WateringCan     -0.816         0.005          0.189          0              0              0
  19  TissueBox       0.233          0.553          2.454          0              0              0              40
  20  Newspaper       0.424          0.418          4.301          0              18.749         0              47
  21  CreditCard      0.226          0.200          2.863          0              180            0              43
  22  KeyChain        0.664          0.552          2.755          0              0              0              40
  23  Boots           -6.309         0.006          1.252          0              92.842         0
  24  Pencil          -4.477         0.758          -0.502         0              0              0              55
  25  Laptop          0.405          0.549          2.153          0              0              0              40
  26  Vase            -3.747         0.757          -0.008         0              0              0              55
  27  RemoteControl   -1.320         0.452          2.322          0              0              0              56
  28  Watch           0.578          0.552          3.056          0              0              0              40
  29  CellPhone       0.171          0.424          4.309          0              90             0              47
  30  Plate           -4.044         0.748          -0.078         0              0              0              54
  31  Painting        -6.5           1.759          -0.341         0              0              0
  32  Painting        0.704          1.778          0.782          0              0              0
  33  Television      1.5            1.690          2.562          0              270            0
  34  FloorLamp       1.111          0.007          6.805          0              0              0
  35  GarbageCan      -6.128         -0.003         2.800          0              0              0
  36  LightSwitch     -6.5           1.498          1.345          0              90             0
  37  HousePlant      -0.753         0.874          0.209          0              0              0
  38  Window          1.496          1.712          4.454          90             90             0
  39  Window          -4.210         1.577          -1.980         90             180            0
  40  CoffeeTable     0.405          0.008          2.605          0              270            0
  41  Drawer          0.597          0.234          2.604          0              270            0
  42  Drawer          0.214          0.393          2.604          0              270            0
  43  Drawer          0.214          0.234          2.609          0              270            0
  44  Drawer          0.214          0.075          2.604          0              270            0
  45  Drawer          0.597          0.075          2.604          0              270            0
  46  Drawer          0.597          0.393          2.604          0              270            0
  47  Ottoman         0.493          0.006          4.309          0              0              0
  48  ArmChair        0.420          0.014          5.129          0              180            0
  49  Chair           -4.664         0.008          0.164          0              180            0
  50  Chair           -3.424         0.008          -0.321         0              270            0
  51  Chair           -4.988         0.008          -0.401         0              90             0
  52  Chair           -3.904         0.008          -0.827         0              0              0
  53  Chair           -4.570         0.008          -0.831         0              0              0
  54  Chair           -3.996         0.008          0.091          0              180            0
  55  DiningTable     -4.295         0.006          -0.378         0              0              0
  56  Sofa            -1.527         0.013          2.559          0              90             0
  57  SideTable       -1.030         0.006          0.160          0              0              0
  58  Drawer          -1.030         0.780          0.225          0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Turn right, walk straight to the furnace, turn left to the coffee table | STEP 2: Grab the pencil on the coffee table | STEP 3: Turn right, walk around the coffee table, go behind the sofa chair, walk to the corner | STEP 4: Turn on the floor lamp | END