Task: grab the candle on the coffee table, turn on the floor lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          2.0            0              270            0
   1  Plate           1.884          0.789          -0.661         0              0              0              42
   2  Candle          -2.184         0.447          -0.237         0              0              0              43
   3  KeyChain        -1.734         0.708          2.788          0              0              0              39
   4  CreditCard      -2.115         0.708          2.875          0              0              0              39
   5  CreditCard      -1.516         0.232          2.863          0              0              0              38
   6  RemoteControl   -2.266         0.450          0.400          0              0              0              43
   7  RemoteControl   -3.168         0.585          0.468          0              0              0              37
   8  Box             -2.020         0.601          0.145          0              0              0              43
   9  Laptop          -3.254         0.582          0.213          0              0              0              37
  10  Laptop          2.327          0.782          -0.168         0              0              0              42
  11  Box             1.27           0.155          -0.293         0              9.804          0              42
  12  Candle          1.440          0.784          -0.292         0              0              0              42
  13  Vase            1.440          0.784          -0.045         0              0              0              42
  14  CreditCard      -2.020         0.447          -0.237         0              0              0              43
  15  Vase            1.840          0.776          -0.298         0              0              0              42
  16  WateringCan     -3.252         -0.000         -1.861         0              0              0
  17  Laptop          -3.341         0.582          -0.552         0              0              0              37
  18  RemoteControl   -2.102         0.448          0.400          0              0              0              43
  19  Statue          -3.592         0.705          1.431          0              90             0              40
  20  KeyChain        -0.462         0.301          0.901          0              90             0              35
  21  Pillow          -3.254         0.645          0.723          0              0              0              37
  22  Plate           -1.856         0.454          0.400          0              0              0              43
  23  Statue          1.662          0.794          -0.661         0              0              0              42
  24  LightSwitch     -3.900         1.284          1.684          0              90             0
  25  GarbageCan      0.299          5.066          1.253          0              2.215          0
  26  FloorLamp       -0.331         0.001          2.728          0              0              0
  27  Painting        -0.056         1.601          1.733          90             270            0
  28  Painting        4.136          1.590          -0.296         90             270            0
  29  Television      -1.859         1.200          2.702          358.970        180            0
  30  HousePlant      -3.580         0.604          -1.617         0              0              0
  31  Window          1.478          1.506          -1.927         90             0              0
  32  Window          -2.003         1.506          -1.927         90             0              0
  33  Window          3.480          1.506          -1.927         90             0              0
  34  ArmChair        -0.437         0.005          1.923          0              270            0
  35  ArmChair        -0.430         0.005          1.062          0              270            0
  36  ArmChair        -2.004         0.005          -1.578         0              0              0
  37  Sofa            -3.419         0.009          -0.042         0              90             0
  38  DiningTable     -1.857         0.231          2.787          0              0              0
  39  TVStand         -1.857         0.000          2.788          0              0              0
  40  SideTable       -3.597         0.004          1.437          0              0              0
  41  SideTable       -3.597         0.004          -1.607         0              0              0
  42  DiningTable     1.883          0.000          -0.291         0              0              0
  43  CoffeeTable     -2.023         0.005          0.018          0              270            0
  44  Chair           1.462          -0.001         0.195          0              164.999        0
  45  Chair           2.288          -0.001         -0.780         0              0              0
  46  Chair           2.223          -0.001         0.149          0              186.648        0
  47  Chair           1.638          -0.001         -0.847         0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn left,walk to the end of the sofa, turn around to the side of the coffee table | STEP 2: grab the candle on the coffee table | STEP 3: turn right, walk across the room to the corner with a floor lamp | STEP 4: turn on the floor lamp | END