Task: Turn on the lamp with remote in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.902          0.0            0              90             0
   1  KeyChain        -4.247         1.653          0.471          0              0              0              27
   2  RemoteControl   -0.237         0.693          5.429          0              315            0              50
   3  RemoteControl   -1.329         0.656          -2.456         0              0              0              56
   4  Pillow          -3.585         0.451          3.348          0              90             0              59
   5  Pillow          -1.913         0.446          5.916          0              180            0              58
   6  Laptop          -2.414         0.387          6.006          0              180            0              58
   7  Laptop          -3.483         0.392          3.881          0              90             0              59
   8  Box             -1.783         0.945          -1.693         0              0              0              56
   9  Vase            -2.246         0.462          3.910          0              0              0              69
  10  CellPhone       -0.129         0.695          5.321          0              315            0              50
  11  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  12  KeyChain        -4.366         1.269          0.621          0              180            0              25
  13  Vase            -4.242         0.789          1.181          0              0              0              28
  14  Vase            -0.847         0.746          1.202          0              0              0              35
  15  Laptop          -1.685         0.450          4.464          0              0              0              69
  16  Pillow          -3.587         0.643          5.016          317.310        0              0              59
  17  RemoteControl   -1.783         0.656          -2.329         0              0              0              56
  18  CreditCard      -0.601         0.741          1.300          0              0              0              35
  19  Vase            -4.225         0.789          0.382          0              0              0              28
  20  Statue          -4.223         1.263          0.399          0              0              0              25
  21  Statue          -0.355         0.751          1.495          0              0              0              35
  22  Statue          -1.329         0.756          -1.820         0              0              0              56
  23  Shelf           -4.253         2.157          0.771          0              0              0
  24  Painting        -3.368         1.741          -0.298         0              0              0
  25  Shelf           -4.253         1.306          0.771          0              0              0
  26  Painting        -1.756         1.424          -3.595         0              0              0
  27  Shelf           -4.253         1.690          0.771          0              0              0
  28  Shelf           -4.261         0.833          0.771          0              0              0
  29  Drawer          0.411          0.581          1.221          0              180            0
  30  Drawer          -0.000         0.170          1.221          0              180            0
  31  Drawer          -0.000         0.581          1.221          0              180            0
  32  Drawer          0.411          0.375          1.221          0              180            0
  33  Drawer          0.411          0.170          1.221          0              180            0
  34  Drawer          -0.000         0.375          1.221          0              180            0
  35  Desk            -0.352         0.003          1.371          0              180            0
  36  FloorLamp       0.391          -0.001         5.157          0              0              0
  37  Window          -2.828         0.470          -0.157         90             199.328        0
  38  Window          -4.410         1.702          1.787          90             270            0
  39  Window          -3.638         1.702          6.735          90             0              0
  40  Window          -4.410         1.702          2.790          90             270            0
  41  Window          -2.827         1.702          -0.157         90             199.328        0
  42  Window          -0.131         1.702          6.735          90             0              0
  43  Window          -1.013         1.702          -0.154         90             159.633        0
  44  Window          -4.410         1.702          5.980          90             270            0
  45  Television      -0.153         1.176          5.790          0              225            0
  46  GarbageCan      0.357          0.003          2.159          0              90             0
  47  DeskLamp        0.277          0.735          1.381          0              0              0
  48  HousePlant      -1.819         0.641          -2.011         0              315            0
  49  LightSwitch     -2.740         1.495          -0.405         0              180            0
  50  TVStand         -0.118         0.001          5.874          0              45             0
  51  Chair           -1.353         0.002          -2.872         0              349.207        0
  52  Chair           -2.220         0.002          -1.298         0              168.118        0
  53  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  54  Chair           -2.189         0.002          -2.835         0              2.328          0
  55  Safe            0.174          0.001          -0.071         0              323.940        0
  56  DiningTable     -1.783         0.003          -2.039         0              0              0
  57  Chair           -0.636         0.010          0.993          0              358.396        0
  58  Sofa            -2.161         0.006          6.115          0              180            0
  59  Sofa            -3.782         0.006          4.153          0              90             0
  60  Shelf           -1.095         0.607          1.321          0              180            0
  61  Shelf           -1.267         0.607          1.321          0              180            0
  62  Shelf           -1.267         0.401          1.321          0              180            0
  63  Shelf           -1.095         0.196          1.320          0              180            0
  64  Shelf           -1.095         0.401          1.321          0              180            0
  65  Shelf           -1.267         0.196          1.320          0              180            0
  66  ArmChair        -2.628         0.009          2.421          0              0              0
  67  Chair           -0.485         0.010          4.452          0              270            0
  68  Chair           -0.431         0.010          3.595          0              270            0
  69  CoffeeTable     -1.965         0.000          4.187          0              0              0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Turn left to face the desk, turn left, walk straight, turn left when you reach the doorway, walk through the doorway to the table, turn left when you reach the table, walk around the table to the remotes. | STEP 2: Grab the remote placed middle of the table. | STEP 3: Turn right to walk around the table, turn right when you reach the doorway, walk through the doorway straight to the small table, turn right when you reach the table, walk straight to the wall, turn left when you reach the wall, walk straight to the lamp. | STEP 4: Turn on the lamp. | END