Task: Carry a green candle while turning 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           -2.0           0.908          3.25           0              270            0
   1  Plate           -2.047         0.798          1.906          0              0              0              53
   2  TissueBox       -3.026         0.459          6.973          0              0              0              50
   3  TissueBox       -2.047         0.783          2.681          0              0              0              53
   4  Watch           -3.528         0.456          6.138          0              0              0              50
   5  Watch           -2.601         0.781          2.371          0              0              0              53
   6  KeyChain        -3.663         0.329          4.718          0              0              0              51
   7  Laptop          -3.155         0.780          1.906          0              0              0              53
   8  Pillow          -1.852         0.516          7.036          0              0              0              46
   9  Box             -1.775         0.583          6.144          0              90             0              46
  10  KeyChain        -1.928         0.456          6.441          0              0              0              46
  11  Plate           -2.970         0.549          8.471          0              180            0              59
  12  Candle          -0.517         0.676          8.382          0              329.437        0              49
  13  Pillow          -1.721         0.519          5.725          0              0              0              46
  14  Candle          -0.624         0.667          8.444          0              0              0              49
  15  TissueBox       -2.324         0.783          2.681          0              0              0              53
  16  Laptop          -3.216         0.450          6.333          0              0              0              50
  17  Newspaper       -3.427         0.456          6.973          0              0              0              50
  18  CreditCard      -3.155         0.781          2.681          0              0              0              53
  19  RemoteControl   -2.926         0.458          6.556          0              0              0              50
  20  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  21  Candle          -0.736         0.678          8.507          0              239.437        0              49
  22  Statue          -2.713         0.902          2.294          0              0              0              53
  23  Watch           -2.324         0.782          1.906          0              0              0              53
  24  Statue          -3.427         0.467          5.930          0              0              0              50
  25  Mirror          -5.489         1.825          6.505          0              0              0
  26  FloorLamp       -5.645         0.013          8.526          0              0              0
  27  HousePlant      -3.203         0.452          6.798          0              0              0
  28  HousePlant      -5.358         1.476          5.442          0              343.031        0
  29  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  30  Television      -3.114         0.996          8.693          1.686          180            0
  31  LightSwitch     -6.0           1.338          3.433          0              90             0
  32  Painting        -5.954         1.526          1.153          90             270            0
  33  Window          0.157          1.203          6.895          90             90             0
  34  Window          -4.855         1.203          -0.158         90             180            0
  35  Window          0.157          1.203          4.923          90             90             0
  36  Window          0.157          1.203          2.986          90             90             0
  37  Window          0.157          1.203          1.088          90             90             0
  38  Window          -2.942         1.203          -0.158         90             180            0
  39  Window          -1.057         1.203          -0.158         90             180            0
  40  DeskLamp        -0.432         0.684          8.644          0              0              0
  41  DeskLamp        -0.346         0.684          0.335          0              0              0
  42  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  43  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  44  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  45  Chair           -3.327         0.015          1.701          358.828        0              358.738
  46  Sofa            -1.706         0.002          6.448          0              270            0
  47  Chair           -0.328         0.016          0.998          0              246.550        0
  48  SideTable       -0.396         0.008          0.357          0              329.435        0
  49  SideTable       -0.527         0.008          8.521          0              329.431        0
  50  CoffeeTable     -3.236         0.010          6.598          0              270            0
  51  ArmChair        -3.663         0.012          4.562          0              0              0
  52  ArmChair        -2.691         0.012          4.618          0              0              0
  53  DiningTable     -2.903         0.010          2.225          0              0              0
  54  RoomDecor       -0.189         0.009          3.909          0              0              0
  55  RoomDecor       -0.189         0.009          2.097          0              0              0
  56  RoomDecor       -0.190         0.009          5.855          0              0              0
  57  RoomDecor       -3.957         0.009          0.254          0              0              0
  58  RoomDecor       -2.036         0.009          0.254          0              0              0
  59  CoffeeTable     -3.129         0.016          8.533          0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Move to the round white table in the far corner of the room | STEP 2: Pick up the green candle on top of the table | STEP 3: Carry the candle to the large floor lamp in the opposite corner of the room | STEP 4: Turn on the lamp | END