Task: Pick up remote and 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           -4.25          0.901          0.5            0              270            0
   1  Statue          -4.569         1.086          2.310          0              0              0              36
   2  Statue          -2.152         0.554          2.744          0              0              0              39
   3  Watch           -4.608         0.887          3.008          0              0              0              30
   4  RemoteControl   -1.752         0.519          0.662          0              0              0              42
   5  RemoteControl   -1.990         0.459          0.843          0              0              0              42
   6  RemoteControl   -2.702         0.459          0.571          0              0              0              42
   7  CreditCard      -4.608         0.887          2.385          0              0              0              31
   8  Box             -4.774         0.409          1.817          0              270            0              35
   9  Box             -4.778         0.405          3.375          0              270            0              33
  10  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
  11  CreditCard      -2.785         0.452          2.455          0              0              0              39
  12  KeyChain        -2.939         0.457          0.934          0              0              0              42
  13  Pillow          -0.505         0.614          1.714          0              0              0              41
  14  Laptop          -4.873         0.981          3.44           0              83.878         0              36
  15  RemoteControl   -2.405         0.455          2.455          0              0              0              39
  16  Watch           -4.919         0.988          2.595          0              0              0              36
  17  Statue          -2.785         0.554          2.744          0              0              0              39
  18  Curtains        -2.535         2.596          0.111          0              0              0
  19  FloorLamp       -4.661         0.009          0.422          0              0              0
  20  Television      -4.883         1.472          2.434          0              90             0
  21  GarbageCan      -4.810         -0.032         1.236          0              180            0
  22  Painting        -0.293         1.820          0.016          90             0              0
  23  LightSwitch     -1.016         1.243          5.0            0              180            0
  24  Painting        -5.118         1.480          4.396          90             270            0
  25  Painting        -5.118         1.480          0.656          90             270            0
  26  Window          -1.715         1.554          0.006          90             180            0
  27  Window          -3.244         1.554          0.006          90             180            0
  28  DeskLamp        0.015          0.704          4.676          0              0              0
  29  HousePlant      -4.824         0.984          1.572          0              0              0
  30  Drawer          -4.497         0.901          2.854          0              90             0
  31  Drawer          -4.497         0.901          2.339          0              90             0
  32  Cabinet         -4.409         0.498          2.603          0              90             0
  33  Cabinet         -4.409         0.498          3.622          0              90             0
  34  Drawer          -4.497         0.901          3.372          0              90             0
  35  Cabinet         -4.409         0.498          1.569          0              90             0
  36  Dresser         -4.744         4.321          2.595          0              90             0
  37  Drawer          -4.497         0.901          1.818          0              90             0
  38  Cabinet         -4.409         0.498          2.588          0              90             0
  39  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  40  ArmChair        -0.298         0.002          3.310          0              270            0
  41  ArmChair        -0.298         0.002          1.713          0              270            0
  42  Sofa            -2.464         -0.002         0.700          0              0              0
  43  Chair           -4.735         0.011          4.609          1.215          90             0
  44  SideTable       -0.041         0.002          4.619          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right, proceed to desk, turn right, proceed to end of couch.  Turn right to face couch. | STEP 2: Pick up remote from couch cushion. | STEP 3: Turn right, proceed forward.  Turn left to face window.  Turn right to face lamp. | STEP 4: Turn on lamp in front of you. | END