Task: Pick up a remote and turn on a 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           0.900          4.0            0              0              0
   1  Statue          -5.762         0.796          4.689          0              180            0              35
   2  Newspaper       0.909          0.981          3.298          0              0              0              47
   3  Newspaper       -3.311         0.550          1.735          0              0              0              31
   4  KeyChain        0.972          0.983          3.921          0              0              0              47
   5  CellPhone       0.787          0.540          3.157          0              0              0              45
   6  CreditCard      -3.216         0.550          1.473          0              0              0              31
   7  RemoteControl   -1.951         0.527          3.818          0              38.001         0              43
   8  RemoteControl   -1.788         0.533          3.691          0              38.001         0              43
   9  Box             -5.392         0.982          4.689          0              0              0              35
  10  CellPhone       0.787          0.540          3.571          0              0              0              45
  11  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  12  Newspaper       -5.762         0.786          4.910          0              0              0              35
  13  KeyChain        0.722          0.983          3.090          0              0              0              47
  14  Plate           -1.480         0.312          2.806          0              39.022         0              34
  15  Pillow          -2.719         0.609          2.768          0              320.647        0              43
  16  RemoteControl   -1.905         0.310          2.655          0              39.022         0              34
  17  CreditCard      -1.706         0.533          3.627          0              38.001         0              43
  18  Laptop          -5.464         0.779          5.252          0              306.871        0              35
  19  Statue          0.909          0.992          3.714          0              0              0              47
  20  Curtains        -1.046         3.500          2.880          0              0              0
  21  HousePlant      -3.580         0.548          1.659          0              0              0
  22  Television      0.852          1.460          3.726          357.954        270            0
  23  Painting        -3.813         1.809          1.008          90             90             0
  24  DeskLamp        0.890          0.545          6.822          0              0              0
  25  GarbageCan      -7.102         -0.044         2.295          0              90             0
  26  FloorLamp       -3.494         0.006          0.390          0              0              0
  27  LightSwitch     -5.234         1.391          7.031          0              180            0
  28  Window          -1.985         1.646          -0.009         90             180            0
  29  Window          -4.909         0.990          2.015          90             180            0
  30  Window          -5.796         1.072          1.871          90             180            0
  31  SideTable       -3.407         0.005          1.656          0              270            0
  32  SideTable       0.732          0.005          6.634          0              270            0
  33  Chair           -0.139         0.005          6.412          0              149.999        0
  34  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  35  DiningTable     -5.639         -0.003         4.910          0              270            0
  36  Chair           -3.159         0.005          0.869          0              97.469         0
  37  Chair           -5.192         0.002          4.682          0              281.219        0
  38  Chair           -5.181         0.002          5.293          0              266.218        0
  39  Chair           -6.046         0.002          4.560          0              86.218         0
  40  Chair           -5.624         0.002          5.750          0              180            0
  41  Chair           -6.036         0.002          5.235          0              93.544         0
  42  Chair           -5.580         0.002          4.099          0              357.508        0
  43  Sofa            -2.465         0.004          3.281          0              128.001        0
  44  Drawer          0.748          0.237          3.330          0              270            0
  45  Drawer          0.748          0.668          3.330          0              270            0
  46  Drawer          0.748          0.235          4.097          0              270            0
  47  Dresser         0.846          0.002          3.713          0              270            0
  48  Drawer          0.748          0.665          4.097          0              270            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Walk to the table in front of the couch | STEP 2: Pick up the remote from the table | STEP 3: Walk to the lamp | STEP 4: Turn on the lamp | END