Task: turn on the lamp

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 to the left turn to the left walk forward turn to the left walk forward turn to the left turn to the right walk forward turn to the right walk forward turn to the right  | STEP 2: pick up the remote on the table  | STEP 3: turn to the right walk forward turn to the left walk forward turn to the left walk forward turn to the right walk forward turn to the right walk forward turn to the left walk forward  | STEP 4: turn on the lamp  | END