Task: pick up the remote and 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           -5.5           0.901          1.75           0              180            0
   1  TissueBox       -1.458         0.075          0.262          0              0              0              48
   2  TissueBox       -5.364         1.040          0.372          0              0              0              41
   3  Newspaper       -1.184         0.079          0.213          0              180            0              48
   4  CellPhone       -1.117         0.609          3.545          0              0              0              63
   5  CellPhone       -1.960         0.590          4.124          0              0              0              53
   6  Statue          -3.864         1.117          4.687          0              90             0              59
   7  Statue          -5.534         1.044          0.306          0              0              0              41
   8  Vase            -2.901         1.115          4.786          0              90             0              59
   9  Vase            -4.291         0.203          4.404          0              90             0              56
  10  Watch           -5.534         1.039          0.504          0              0              0              41
  11  Watch           -0.295         0.593          1.284          0              270            0              43
  12  CreditCard      -1.960         0.589          4.557          0              0              0              53
  13  RemoteControl   -1.117         0.611          2.488          0              0              0              63
  14  RemoteControl   -2.210         0.592          4.557          0              0              0              53
  15  Box             -3.222         1.332          4.589          0              180            0              59
  16  Watch           -4.826         1.111          4.687          0              90             0              59
  17  Pillow          -1.584         0.668          4.211          0              0              0              53
  18  TissueBox       -4.673         0.205          4.331          0              90             0              62
  19  Newspaper       -3.503         0.210          4.459          0              90             0              57
  20  CreditCard      -1.459         0.589          4.124          0              0              0              53
  21  KeyChain        -2.297         0.034          0.265          0              90             0              42
  22  CellPhone       -3.863         1.111          4.490          0              90             0              59
  23  Statue          -3.543         1.113          4.589          0              90             0              59
  24  Laptop          -4.184         1.109          4.490          0              90             0              59
  25  RemoteControl   -0.705         0.611          3.281          0              0              0              63
  26  Vase            -2.404         0.037          0.160          0              90             0              42
  27  DeskLamp        -4.649         1.051          0.268          0              0              0
  28  DeskLamp        -2.992         1.107          4.522          0              0              0
  29  FloorLamp       -0.650         0.007          4.431          0              0              0
  30  FloorLamp       -5.607         0.007          4.641          0              0              0
  31  Shelf           -5.237         1.776          0.070          0              0              0
  32  Shelf           -5.238         1.968          0.085          0              0              0
  33  Shelf           -5.242         1.391          0.086          0              0              0
  34  Shelf           -5.241         1.582          0.065          0              0              0
  35  LightSwitch     -6.002         1.353          3.404          0              90             0
  36  GarbageCan      -5.794         -0.033         4.073          0              90             0
  37  Painting        -6.017         1.802          4.177          90             270            0
  38  HousePlant      -3.966         1.625          0.135          0              315            0
  39  Television      -3.355         0.833          0.027          0              0              0
  40  Drawer          -5.024         0.903          0.370          0              0              0
  41  SideTable       -5.024         0.008          0.267          0              0              0
  42  Safe            -2.298         5.778          0.268          0              90             0
  43  Shelf           -0.253         0.781          1.058          0              270            0
  44  Shelf           -0.283         0.274          1.066          0              270            0
  45  Shelf           -1.224         1.288          0.270          0              0              0
  46  Shelf           -1.218         1.810          0.275          0              0              0
  47  Shelf           -0.280         1.810          1.057          0              270            0
  48  Shelf           -1.218         0.274          0.262          0              0              0
  49  Shelf           -1.223         0.782          0.237          0              0              0
  50  Shelf           -0.280         1.288          1.055          0              270            0
  51  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  52  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  53  ArmChair        -2.027         0.001          4.422          0              178.692        0
  54  Drawer          -4.329         1.014          4.311          0              180            0
  55  Drawer          -3.750         1.014          4.311          0              180            0
  56  Cabinet         -4.049         0.561          4.212          0              180            0
  57  Cabinet         -4.032         0.561          4.212          0              180            0
  58  Cabinet         -2.884         0.561          4.212          0              180            0
  59  Dresser         -4.041         -0.000         4.589          0              180            0
  60  Drawer          -4.916         1.014          4.311          0              180            0
  61  Drawer          -3.166         1.014          4.311          0              180            0
  62  Cabinet         -5.196         0.561          4.212          0              180            0
  63  Sofa            -0.705         -0.002         2.753          0              270            0
  64  NorthWall
  65  SouthWall
  66  SouthWall

Plan:
STEP 1: look at the cabinet and then turn left walk forward to the couch then turn left walk towards the blue chair  | STEP 2: pick up the remote that is on the blue chair | STEP 3: turn right towards the tan couch  then point the remote at the wall  | STEP 4: turn on the lamp   | END