Task: Grab the pencil from the coffee table, 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           -5.0           0.907          4.75           0              180            0
   1  Bowl            0.664          0.553          2.304          0              90             0              37
   2  TissueBox       -4.659         0.756          -0.749         0              0              0              50
   3  TissueBox       -4.295         0.756          -0.626         0              0              0              52
   4  Newspaper       -4.295         0.761          -0.255         0              0              0              52
   5  Vase            0.578          0.554          2.153          0              0              0              37
   6  Pencil          0.492          0.555          2.304          0              0              0              37
   7  Pencil          -6.087         0.064          2.800          0              0              0              32
   8  KeyChain        -1.437         0.450          3.268          0              0              0              53
   9  Book            -1.087         0.454          1.849          0              0              0              53
  10  RemoteControl   0.226          0.039          2.863          0              180            0              41
  11  Book            -4.842         0.755          -0.131         0              0              0              48
  12  Box             0.957          0.286          6.189          0              327.955        0              45
  13  Pillow          0.438          0.581          5.162          321.968        0              0              45
  14  Bowl            -3.930         0.756          -0.626         0              0              0              49
  15  WateringCan     -0.816         0.005          0.189          0              0              0
  16  TissueBox       -1.340         0.882          0.179          0              90             0              54
  17  Newspaper       0.233          0.558          2.304          0              0              0              37
  18  CreditCard      -4.659         0.754          -0.502         0              0              0              52
  19  KeyChain        -3.747         0.755          -0.255         0              0              0              52
  20  Boots           -6.309         0.006          1.252          0              92.842         0
  21  Pencil          0.664          0.555          2.454          0              0              0              37
  22  Laptop          0.709          0.422          4.371          0              90             0              44
  23  Vase            -3.747         0.757          -0.379         0              0              0              52
  24  RemoteControl   -1.320         0.452          3.031          0              0              0              53
  25  Watch           0.664          0.552          2.905          0              0              0              37
  26  CellPhone       -4.842         0.754          -0.626         0              0              0              52
  27  Plate           -1.132         0.883          0.179          0              90             0              54
  28  Painting        -6.5           1.759          -0.341         0              0              0
  29  Painting        0.704          1.778          0.782          0              0              0
  30  Television      1.5            1.690          2.562          0              270            0
  31  FloorLamp       1.111          0.007          6.805          0              0              0
  32  GarbageCan      -6.128         -0.003         2.800          0              0              0
  33  LightSwitch     -6.5           1.498          1.345          0              90             0
  34  HousePlant      -0.753         0.874          0.209          0              0              0
  35  Window          1.496          1.712          4.454          90             90             0
  36  Window          -4.210         1.577          -1.980         90             180            0
  37  CoffeeTable     0.405          0.008          2.605          0              270            0
  38  Drawer          0.597          0.234          2.604          0              270            0
  39  Drawer          0.214          0.393          2.604          0              270            0
  40  Drawer          0.214          0.234          2.609          0              270            0
  41  Drawer          0.214          0.075          2.604          0              270            0
  42  Drawer          0.597          0.075          2.604          0              270            0
  43  Drawer          0.597          0.393          2.604          0              270            0
  44  Ottoman         0.493          0.006          4.309          0              0              0
  45  ArmChair        0.420          0.014          5.129          0              180            0
  46  Chair           -4.664         0.008          0.164          0              180            0
  47  Chair           -3.424         0.008          -0.321         0              270            0
  48  Chair           -4.988         0.008          -0.401         0              90             0
  49  Chair           -3.904         0.008          -0.827         0              0              0
  50  Chair           -4.570         0.008          -0.831         0              0              0
  51  Chair           -3.996         0.008          0.091          0              180            0
  52  DiningTable     -4.295         0.006          -0.378         0              0              0
  53  Sofa            -1.527         0.013          2.559          0              90             0
  54  SideTable       -1.030         0.006          0.160          0              0              0
  55  Drawer          -1.030         0.780          0.225          0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Walk down the floor and enter the living room, walk across the room to the end, turn around, facing the coffee table | STEP 2: Grab the pencil on the table | STEP 3: Turn right, walk across the room to the corner with a floor lamp | STEP 4: Turn on the floor lamp | END