Task: pick up remote, turn on lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          1.5            0              180            0
   1  Book            -1.101         0.547          0.740          0              0              0              31
   2  Watch           -1.461         0.448          2.120          0              0              0              30
   3  Statue          -1.948         0.712          3.869          0              0              0              32
   4  Statue          -1.335         0.453          2.361          0              0              0              30
   5  KeyChain        -1.587         0.448          2.601          0              0              0              30
   6  CreditCard      -2.093         0.447          2.280          0              0              0              30
   7  RemoteControl   -0.601         0.547          0.560          0              0              0              31
   8  RemoteControl   -1.648         0.708          3.759          0              0              0              32
   9  RemoteControl   0.880          0.241          0.545          0              0              0              33
  10  Laptop          -1.852         0.544          0.740          0              0              0              31
  11  Book            0.627          0.719          0.339          0              90             0              29
  12  Box             0.332          0.892          0.488          0              0              0              29
  13  Laptop          -1.714         0.446          2.361          0              0              0              30
  14  KeyChain        -2.949         0.565          0.847          0              0              0              34
  15  Pillow          -3.075         0.653          0.661          0              0              0              34
  16  Statue          -1.349         0.716          3.759          0              180            0              32
  17  RemoteControl   -0.851         0.547          0.650          0              0              0              31
  18  CreditCard      -1.200         0.710          3.869          0              0              0              32
  19  Watch           -2.093         0.448          2.521          0              0              0              30
  20  Painting        -3.049         1.690          4.341          0              0              0
  21  Curtains        -3.973         2.254          1.453          0              0              0
  22  Painting        -1.096         1.773          -0.017         0              0              0
  23  LightSwitch     -0.129         1.407          4.348          0              180            0
  24  GarbageCan      -0.376         0.003          4.103          0              180            0
  25  Television      -1.504         1.189          4.126          0              180            0
  26  HousePlant      -2.015         0.447          2.357          0              0              0
  27  FloorLamp       -3.686         -0.001         4.013          0              0              0
  28  Window          -4.051         1.197          1.312          90             270            0
  29  SideTable       0.626          0.006          0.340          0              0              0
  30  CoffeeTable     -1.735         0.005          2.360          0              0              0
  31  Sofa            -1.135         -0.004         0.517          0              0              0
  32  TVStand         -1.566         0.004          3.869          0              0              0
  33  Shelf           0.622          0.238          0.340          0              0              0
  34  ArmChair        -3.063         0.000          0.517          0              0              0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: turn around, go in between desks, face desk to the left | STEP 2: pick up remote from desk | STEP 3: go to lamp to the left | STEP 4: look up, turn on lamp | END