Task: Grab the pencil from the shelf, turn on the floor lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.25           0.900          0.5            0              0              0
   1  Newspaper       0.967          0.334          1.819          0              0              0              22
   2  Newspaper       1.183          0.476          0.349          0              90             0              32
   3  Pen             1.324          0.479          0.267          0              180            0              32
   4  Pen             -0.185         0.074          -0.653         0              180            0              35
   5  CreditCard      3.901          0.765          1.151          0              0              0              42
   6  CreditCard      1.324          0.473          0.431          0              180            0              32
   7  Laptop          2.656          0.320          1.727          0              180            0              31
   8  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
   9  Newspaper       1.792          0.334          1.673          0              0              0              40
  10  Laptop          1.805          0.47           0.499          0              0              0              32
  11  WateringCan     1.621          0.056          -0.697         0              0              0              37
  12  TissueBox       1.608          0.479          0.186          0              180            0              32
  13  KeyChain        4.047          0.878          0.971          0              0              0              41
  14  Pen             1.183          0.483          0.594          0              180            0              32
  15  Boots           4.005          0.001          1.707          1.563          246.167        0
  16  Pencil          -0.501         0.071          -0.615         0              0              0              35
  17  RemoteControl   1.586          0.337          1.746          0              0              0              40
  18  CreditCard      0.025          0.457          -0.615         0              0              0              38
  19  Pillow          0.651          0.395          1.708          0              0              0              22
  20  Statue          -0.532         0.443          -0.738         0              92.244         0              38
  21  Statue          1.466          0.487          0.594          0              180            0              32
  22  Sofa            1.174          0.0            1.865          0              0              0
  23  FloorLamp       3.608          0.000          2.163          0              0              0
  24  GarbageCan      3.833          -0.029         -0.495         0              0              0
  25  Television      1.897          1.281          -0.838         0              0              0
  26  Painting        4.070          1.950          0.848          90             270            0
  27  HousePlant      0.387          0.801          -0.725         0              90             0
  28  Window          0.023          2.072          2.484          90             180            0
  29  Window          1.570          2.072          2.484          90             180            0
  30  LightSwitch     -1.399         1.289          1.835          0              90             0
  31  ArmChair        2.655          0.000          1.858          0              180            0
  32  CoffeeTable     1.591          -0.000         0.446          0              180            0
  33  Shelf           1.905          0.588          -0.730         0              0              0
  34  TVStand         1.904          -0.000         -0.770         0              0              0
  35  Shelf           -0.289         0.200          -0.732         0              0              0
  36  TVStand         -0.290         -0.000         -0.772         0              0              0
  37  Shelf           1.905          0.200          -0.730         0              0              0
  38  Shelf           -0.289         0.588          -0.732         0              0              0
  39  ArmChair        -0.270         0.000          1.870          0              181.372        0
  40  Sofa            1.193          0.008          1.865          0              180            0
  41  SideTable       3.946          0.000          0.865          0              270            0
  42  Drawer          3.882          0.774          0.864          0              270            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around, walk to the shelf with a box on it | STEP 2: Grab the pencil from the shelf | STEP 3: Turn left, walk to the corner, turn left, walk to the corner with a floor lamp | STEP 4: Turn on the floor lamp | END