In response to spatial constraints of smaller living spaces, reconfigurable physical structures have been studied, while other spatial dimensions, such as lighting, remain underexplored. This paper introduces Light Everywhere, a robotic light fixture traversing walls and ceilings to deliver customizable lighting tailored to diverse domestic activities. Our research employs a four-stage design process: (1) a field study with home visits (N=15) to understand residents' conventional lighting experiences; (2) an online study (N=80) to assess initial design concepts; (3) prototype development informed by existing literature and design precedents; and (4) an in-person experiment (N=26) to evaluate the prototype's impact on human behavior in a small home setting. The interaction study suggests that Light Everywhere enhances user comfort and perceived control, improving spatial utilization for various activities. These results envision a future for robotic lighting and underscore its potential as a flexible element in space-constrained domestic spaces.