Task: Place a plate with a candle on a shelf.

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          0.900          2.0            0              90             0
   1  Plate           -2.102         0.454          -0.364         0              0              0              40
   2  Plate           -2.184         0.452          0.273          0              0              0              40
   3  Candle          -2.102         0.449          -0.109         0              0              0              40
   4  KeyChain        -0.559         0.191          2.164          0              270            0              31
   5  KeyChain        -3.341         0.584          0.468          0              0              0              34
   6  CreditCard      -3.341         0.532          0.723          0              0              0              34
   7  Laptop          -3.341         0.582          0.213          0              0              0              34
   8  Box             1.27           0.155          -0.293         0              9.804          0              39
   9  Candle          -1.978         0.233          2.863          0              0              0              35
  10  Vase            2.105          0.784          -0.661         0              0              0              39
  11  CreditCard      -1.480         0.708          2.788          0              0              0              36
  12  Vase            1.840          0.776          -0.298         0              0              0              39
  13  WateringCan     -3.252         -0.000         -1.861         0              0              0
  14  Laptop          2.105          0.782          -0.168         0              0              0              39
  15  RemoteControl   -1.774         0.450          0.400          0              0              0              40
  16  Statue          -3.592         0.705          1.431          0              90             0              37
  17  KeyChain        -2.102         0.449          0.018          0              0              0              40
  18  Pillow          -3.341         0.645          -0.297         0              0              0              34
  19  Plate           -1.856         0.452          0.145          0              0              0              40
  20  Statue          -1.938         0.459          -0.237         0              90             0              40
  21  LightSwitch     -3.900         1.284          1.684          0              90             0
  22  GarbageCan      0.299          5.066          1.253          0              2.215          0
  23  FloorLamp       -0.331         0.001          2.728          0              0              0
  24  Painting        -0.056         1.601          1.733          90             270            0
  25  Painting        4.136          1.590          -0.296         90             270            0
  26  Television      -1.859         1.200          2.702          358.970        180            0
  27  HousePlant      -3.580         0.604          -1.617         0              0              0
  28  Window          1.478          1.506          -1.927         90             0              0
  29  Window          -2.003         1.506          -1.927         90             0              0
  30  Window          3.480          1.506          -1.927         90             0              0
  31  ArmChair        -0.437         0.005          1.923          0              270            0
  32  ArmChair        -0.430         0.005          1.062          0              270            0
  33  ArmChair        -2.004         0.005          -1.578         0              0              0
  34  Sofa            -3.419         0.009          -0.042         0              90             0
  35  DiningTable     -1.857         0.231          2.787          0              0              0
  36  TVStand         -1.857         0.000          2.788          0              0              0
  37  SideTable       -3.597         0.004          1.437          0              0              0
  38  SideTable       -3.597         0.004          -1.607         0              0              0
  39  DiningTable     1.883          0.000          -0.291         0              0              0
  40  CoffeeTable     -2.023         0.005          0.018          0              270            0
  41  Chair           1.462          -0.001         0.195          0              164.999        0
  42  Chair           2.288          -0.001         -0.780         0              0              0
  43  Chair           2.223          -0.001         0.149          0              186.648        0
  44  Chair           1.638          -0.001         -0.847         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Hang a right at the television stand, turn left at the end of the couch and face the glass coffee table on the left at the chair. | STEP 2: Pick up the candle holder with the candle in the middle of the glass table next to the keys. | STEP 3: Put the candle holder with the candle on the gold plate to the left of the statue on the table. | STEP 4: Pick up the plate with the candle holder on the table. | STEP 5: Turn left, hang a right at the couch and walk to the television stand ahead. | STEP 6: Put the plate with the candle holder on the left corner of the bottom shelf. | END