Task: Turn a lamp on with a 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           -5.0           0.900          2.5            0              270            0
   1  KeyChain        -5.392         0.787          4.689          0              0              0              31
   2  CreditCard      -1.940         0.523          3.496          0              38.001         0              39
   3  CreditCard      -2.792         0.521          2.909          0              38.001         0              39
   4  Box             -3.311         0.746          1.735          0              270            0              27
   5  Box             -1.591         0.498          2.277          0              26.831         0              30
   6  CellPhone       0.636          0.554          6.905          0              0              0              28
   7  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
   8  Newspaper       -5.516         0.781          4.246          0              0              0              31
   9  KeyChain        0.541          0.550          6.382          0              180            0              28
  10  Plate           0.909          0.986          3.090          0              0              0              43
  11  Pillow          -2.719         0.609          2.768          0              320.647        0              39
  12  RemoteControl   -5.269         0.788          4.467          0              0              0              31
  13  CreditCard      -6.009         0.782          4.246          0              0              0              31
  14  Laptop          -5.464         0.779          5.252          0              306.871        0              31
  15  Statue          -5.639         0.792          4.689          0              0              0              31
  16  Curtains        -1.046         3.500          2.880          0              0              0
  17  HousePlant      -3.580         0.548          1.659          0              0              0
  18  Television      0.852          1.460          3.726          357.954        270            0
  19  Painting        -3.813         1.809          1.008          90             90             0
  20  DeskLamp        0.890          0.545          6.822          0              0              0
  21  GarbageCan      -7.102         -0.044         2.295          0              90             0
  22  FloorLamp       -3.494         0.006          0.390          0              0              0
  23  LightSwitch     -5.234         1.391          7.031          0              180            0
  24  Window          -1.985         1.646          -0.009         90             180            0
  25  Window          -4.909         0.990          2.015          90             180            0
  26  Window          -5.796         1.072          1.871          90             180            0
  27  SideTable       -3.407         0.005          1.656          0              270            0
  28  SideTable       0.732          0.005          6.634          0              270            0
  29  Chair           -0.139         0.005          6.412          0              149.999        0
  30  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  31  DiningTable     -5.639         -0.003         4.910          0              270            0
  32  Chair           -3.159         0.005          0.869          0              97.469         0
  33  Chair           -5.192         0.002          4.682          0              281.219        0
  34  Chair           -5.181         0.002          5.293          0              266.218        0
  35  Chair           -6.046         0.002          4.560          0              86.218         0
  36  Chair           -5.624         0.002          5.750          0              180            0
  37  Chair           -6.036         0.002          5.235          0              93.544         0
  38  Chair           -5.580         0.002          4.099          0              357.508        0
  39  Sofa            -2.465         0.004          3.281          0              128.001        0
  40  Drawer          0.748          0.237          3.330          0              270            0
  41  Drawer          0.748          0.668          3.330          0              270            0
  42  Drawer          0.748          0.235          4.097          0              270            0
  43  Dresser         0.846          0.002          3.713          0              270            0
  44  Drawer          0.748          0.665          4.097          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Go right and then turn to face the table in front of the remote. | STEP 2: Pick the remote up from the table. | STEP 3: Turn around and cross the room to the right to stand in front of the lamp with a green shade. | STEP 4: Turn the lamp on. | END