Task: Turn on a floor lamp while carrying a pencil

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.5            0              270            0
   1  Pen             1.904          0.070          -0.729         0              0              0              35
   2  Pen             1.324          0.483          0.676          0              180            0              30
   3  KeyChain        -0.080         0.069          -0.842         0              90             0              33
   4  Box             1.380          0.582          1.819          0              0              0              38
   5  Laptop          2.656          0.320          1.727          0              180            0              29
   6  Box             -0.271         0.569          1.810          0              1.372          0              37
   7  Newspaper       1.608          0.476          0.186          0              180            0              30
   8  Laptop          1.805          0.47           0.499          0              0              0              30
   9  WateringCan     1.621          0.056          -0.697         0              0              0              35
  10  TissueBox       1.904          0.454          -0.767         0              0              0              31
  11  KeyChain        3.901          0.766          1.151          0              0              0              40
  12  Pen             1.466          0.479          0.512          0              180            0              30
  13  Boots           4.005          0.001          1.707          1.563          246.167        0
  14  Pencil          1.682          0.843          -0.623         0              0              0              32
  15  RemoteControl   1.696          0.454          -0.729         0              270            0              31
  16  CreditCard      1.696          0.452          -0.615         0              0              0              31
  17  Pillow          0.651          0.395          1.708          0              0              0              20
  18  Statue          -0.532         0.443          -0.738         0              92.244         0              36
  19  Statue          -0.081         0.057          -0.692         0              0              0              33
  20  Sofa            1.174          0.0            1.865          0              0              0
  21  FloorLamp       3.608          0.000          2.163          0              0              0
  22  GarbageCan      3.833          -0.029         -0.495         0              0              0
  23  Television      1.897          1.281          -0.838         0              0              0
  24  Painting        4.070          1.950          0.848          90             270            0
  25  HousePlant      0.387          0.801          -0.725         0              90             0
  26  Window          0.023          2.072          2.484          90             180            0
  27  Window          1.570          2.072          2.484          90             180            0
  28  LightSwitch     -1.399         1.289          1.835          0              90             0
  29  ArmChair        2.655          0.000          1.858          0              180            0
  30  CoffeeTable     1.591          -0.000         0.446          0              180            0
  31  Shelf           1.905          0.588          -0.730         0              0              0
  32  TVStand         1.904          -0.000         -0.770         0              0              0
  33  Shelf           -0.289         0.200          -0.732         0              0              0
  34  TVStand         -0.290         -0.000         -0.772         0              0              0
  35  Shelf           1.905          0.200          -0.730         0              0              0
  36  Shelf           -0.289         0.588          -0.732         0              0              0
  37  ArmChair        -0.270         0.000          1.870          0              181.372        0
  38  Sofa            1.193          0.008          1.865          0              180            0
  39  SideTable       3.946          0.000          0.865          0              270            0
  40  Drawer          3.882          0.774          0.864          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move to the wooden TV stand  | STEP 2: Pick up the yellow pencil that is sitting on top of the wooden TV stand | STEP 3: Carry the pencil to the green floor lamp sitting to the right of the sofa | STEP 4: Turn on the floor lamp | END