Task: Pick up the remote controller and turn off 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           -3.25          0.901          0.25           0              0              0
   1  Watch           -2.808         0.066          6.699          0              0              0              29
   2  Watch           -0.437         0.626          3.421          0              0              0              39
   3  KeyChain        -1.451         0.756          1.414          0              0              0              41
   4  KeyChain        -2.729         0.401          3.551          0              90             0              31
   5  CreditCard      -4.228         0.483          3.473          0              0              0              25
   6  Laptop          -1.732         0.753          1.133          0              0              0              41
   7  Box             -1.607         0.151          6.854          0              0              0              38
   8  Statue          -1.873         0.761          1.554          0              0              0              41
   9  Watch           -2.868         0.376          6.674          0              0              0              26
  10  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  11  Laptop          -4.300         0.475          5.787          0              0              0              32
  12  CreditCard      -3.604         0.396          3.750          0              0              0              40
  13  KeyChain        -4.380         0.480          5.325          0              0              0              32
  14  Pillow          -4.335         0.465          4.398          0              0              0              32
  15  RemoteControl   -3.423         0.399          3.750          0              0              0              40
  16  Curtains        -0.037         2.148          0.999          0              0              0
  17  Painting        -0.016         2.061          5.380          0              0              0
  18  GarbageCan      -0.256         -0.010         6.799          0              0              0
  19  FloorLamp       -4.721         -0.001         3.687          0              0              0
  20  Television      -3.192         1.184          6.767          0              180            0
  21  HousePlant      -0.173         0.610          3.994          0              0              0
  22  LightSwitch     -3.483         1.470          0.001          0              0              0
  23  DeskLamp        -0.258         0.611          3.312          0              0              0
  24  Window          -0.008         1.340          1.725          90             270            0
  25  SideTable       -4.190         0.000          3.587          0              0              0
  26  Drawer          -2.925         0.475          6.717          0              180            0
  27  Drawer          -3.476         0.475          6.717          0              180            0
  28  Dresser         -3.201         -0.001         6.791          0              180            0
  29  Drawer          -2.925         0.165          6.719          0              180            0
  30  Drawer          -3.476         0.165          6.719          0              180            0
  31  ArmChair        -2.448         0.002          3.501          0              0              0
  32  Sofa            -4.425         0.014          5.062          0              90             0
  33  Ottoman         -2.374         0.000          4.483          0              0              0
  34  Chair           -2.151         0.004          1.284          0              90             0
  35  Chair           -1.549         0.004          1.780          0              195.000        0
  36  Chair           -1.626         0.004          0.778          0              10.166         0
  37  Chair           -1.076         0.004          1.292          0              265.171        0
  38  SideTable       -2.071         0.000          6.699          0              0              0
  39  SideTable       -0.244         -0.000         3.524          0              270            0
  40  ArmChair        -3.545         0.005          3.579          0              0              0
  41  DiningTable     -1.592         0.006          1.274          0              0              0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Go to the front side of the sofa with remote controller | STEP 2: Pick the remote controller up from the sofa | STEP 3: Move around the sofa to go to the lamp next to the sofa | STEP 4: Raise the remote controller to turn off the lamp | END