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           -3.75          0.900          -0.5           0              180            0
   1  Newspaper       0.967          0.334          1.819          0              0              0              21
   2  Newspaper       2.800          0.321          1.583          0              90             0              30
   3  Pencil          2.033          0.476          0.186          0              180            0              31
   4  KeyChain        1.324          0.474          0.349          0              180            0              31
   5  RemoteControl   2.583          0.324          1.727          0              90             0              30
   6  RemoteControl   3.967          0.877          0.865          0              0              0              40
   7  Box             1.380          0.582          1.819          0              0              0              39
   8  Newspaper       1.466          0.476          0.512          0              180            0              31
   9  Laptop          1.805          0.47           0.499          0              0              0              31
  10  WateringCan     1.621          0.056          -0.697         0              0              0              36
  11  TissueBox       2.008          0.454          -0.691         0              0              0              32
  12  KeyChain        4.047          0.877          1.181          0              0              0              40
  13  Pen             3.888          0.882          0.549          0              0              0              40
  14  Boots           4.005          0.001          1.707          1.563          246.167        0
  15  Pencil          1.592          0.456          -0.691         0              0              0              32
  16  RemoteControl   1.174          0.337          1.892          0              0              0              39
  17  CreditCard      1.682          0.840          -0.623         0              0              0              33
  18  Pillow          0.651          0.395          1.708          0              0              0              21
  19  Statue          -0.532         0.443          -0.738         0              92.244         0              37
  20  Statue          -0.081         0.057          -0.692         0              0              0              34
  21  Sofa            1.174          0.0            1.865          0              0              0
  22  FloorLamp       3.608          0.000          2.163          0              0              0
  23  GarbageCan      3.833          -0.029         -0.495         0              0              0
  24  Television      1.897          1.281          -0.838         0              0              0
  25  Painting        4.070          1.950          0.848          90             270            0
  26  HousePlant      0.387          0.801          -0.725         0              90             0
  27  Window          0.023          2.072          2.484          90             180            0
  28  Window          1.570          2.072          2.484          90             180            0
  29  LightSwitch     -1.399         1.289          1.835          0              90             0
  30  ArmChair        2.655          0.000          1.858          0              180            0
  31  CoffeeTable     1.591          -0.000         0.446          0              180            0
  32  Shelf           1.905          0.588          -0.730         0              0              0
  33  TVStand         1.904          -0.000         -0.770         0              0              0
  34  Shelf           -0.289         0.200          -0.732         0              0              0
  35  TVStand         -0.290         -0.000         -0.772         0              0              0
  36  Shelf           1.905          0.200          -0.730         0              0              0
  37  Shelf           -0.289         0.588          -0.732         0              0              0
  38  ArmChair        -0.270         0.000          1.870          0              181.372        0
  39  Sofa            1.193          0.008          1.865          0              180            0
  40  SideTable       3.946          0.000          0.865          0              270            0
  41  Drawer          3.882          0.774          0.864          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn left, walk across the room to the white coffee table | STEP 2: Grab the pencil on the coffee table | STEP 3: Turn right, and turn left, walk to the floor lamp | STEP 4: Turn on the floor lamp | END