Task: Bring the candle to the lamp to 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           -4.5           0.908          7.5            0              90             0
   1  Plate           -3.227         0.473          7.182          0              0              0              51
   2  Plate           -3.227         0.471          6.138          0              0              0              51
   3  Candle          -3.709         0.782          1.751          0              0              0              54
   4  TissueBox       -3.129         0.535          8.346          0              180            0              60
   5  Newspaper       -3.026         0.455          6.556          0              0              0              51
   6  KeyChain        -2.047         0.783          2.216          0              0              0              54
   7  CreditCard      -0.304         0.675          0.447          0              239.437        0              49
   8  Laptop          -1.699         0.453          6.441          0              0              0              47
   9  Laptop          -2.324         0.780          2.526          0              0              0              54
  10  Box             -2.878         0.910          2.526          0              180            0              54
  11  KeyChain        -1.928         0.456          6.144          0              0              0              47
  12  Plate           -3.432         0.798          2.526          0              0              0              54
  13  Candle          -3.155         0.782          2.681          0              0              0              54
  14  Pillow          -1.721         0.519          5.725          0              0              0              47
  15  Candle          -0.464         0.676          0.534          0              329.437        0              49
  16  TissueBox       -3.709         0.783          2.681          0              0              0              54
  17  Laptop          -1.852         0.453          7.334          0              0              0              47
  18  Newspaper       -2.047         0.781          1.906          0              0              0              54
  19  CreditCard      -3.608         0.533          8.596          0              180            0              60
  20  RemoteControl   -3.432         0.783          1.751          0              0              0              54
  21  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  22  Candle          -2.651         0.536          8.346          0              180            0              60
  23  Statue          -2.713         0.902          2.294          0              0              0              54
  24  Watch           -0.495         0.676          8.468          0              329.437        0              50
  25  Statue          -3.432         0.792          2.216          0              90             0              54
  26  Mirror          -5.489         1.825          6.505          0              0              0
  27  FloorLamp       -5.645         0.013          8.526          0              0              0
  28  HousePlant      -3.203         0.452          6.798          0              0              0
  29  HousePlant      -5.358         1.476          5.442          0              343.031        0
  30  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  31  Television      -3.114         0.996          8.693          1.686          180            0
  32  LightSwitch     -6.0           1.338          3.433          0              90             0
  33  Painting        -5.954         1.526          1.153          90             270            0
  34  Window          0.157          1.203          6.895          90             90             0
  35  Window          -4.855         1.203          -0.158         90             180            0
  36  Window          0.157          1.203          4.923          90             90             0
  37  Window          0.157          1.203          2.986          90             90             0
  38  Window          0.157          1.203          1.088          90             90             0
  39  Window          -2.942         1.203          -0.158         90             180            0
  40  Window          -1.057         1.203          -0.158         90             180            0
  41  DeskLamp        -0.432         0.684          8.644          0              0              0
  42  DeskLamp        -0.346         0.684          0.335          0              0              0
  43  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  44  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  45  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  46  Chair           -3.327         0.015          1.701          358.828        0              358.738
  47  Sofa            -1.706         0.002          6.448          0              270            0
  48  Chair           -0.328         0.016          0.998          0              246.550        0
  49  SideTable       -0.396         0.008          0.357          0              329.435        0
  50  SideTable       -0.527         0.008          8.521          0              329.431        0
  51  CoffeeTable     -3.236         0.010          6.598          0              270            0
  52  ArmChair        -3.663         0.012          4.562          0              0              0
  53  ArmChair        -2.691         0.012          4.618          0              0              0
  54  DiningTable     -2.903         0.010          2.225          0              0              0
  55  RoomDecor       -0.189         0.009          3.909          0              0              0
  56  RoomDecor       -0.189         0.009          2.097          0              0              0
  57  RoomDecor       -0.190         0.009          5.855          0              0              0
  58  RoomDecor       -3.957         0.009          0.254          0              0              0
  59  RoomDecor       -2.036         0.009          0.254          0              0              0
  60  CoffeeTable     -3.129         0.016          8.533          0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn right, walk across the room towards the dining table, turn left in between the sofa and dining table, walk towards the middle of the table and face an open box on the table. | STEP 2: Pick up the candle next to the box on the table. | STEP 3: Turn around, turn left back towards the end of the table, turn right and walk across the room past the fireplace on the left, and turn left to face the tall lamp. | STEP 4: Bring the candle up next to the lamp shade and turn on the lamp shade. | END