Task: 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           3.5            0.900          -1.5           0              270            0
   1  Plate           2.548          0.789          -0.045         0              0              0              42
   2  Plate           -1.632         0.238          2.787          0              0              0              38
   3  Vase            1.884          0.784          -0.045         0              0              0              42
   4  Candle          -2.242         0.709          2.656          0              0              0              39
   5  Candle          -2.242         0.711          2.788          0              0              0              39
   6  CreditCard      -1.774         0.449          0.145          0              0              0              43
   7  CreditCard      -1.924         0.190          -1.456         0              0              0              36
   8  RemoteControl   2.327          0.785          0.077          0              0              0              42
   9  RemoteControl   -3.515         0.534          0.723          0              0              0              37
  10  Box             -3.254         0.736          -0.297         0              0              0              37
  11  Box             1.27           0.155          -0.293         0              9.804          0              42
  12  Candle          -1.774         0.447          0.018          0              0              0              43
  13  Vase            -1.774         0.449          -0.364         0              0              0              43
  14  CreditCard      -1.861         0.708          2.875          0              0              0              39
  15  Vase            -1.856         0.458          0.400          0              0              0              43
  16  WateringCan     -3.252         -0.000         -1.861         0              0              0
  17  Laptop          -2.015         0.442          -0.115         0              328.925        0              43
  18  RemoteControl   -0.649         0.192          1.842          0              270            0              34
  19  Statue          -3.592         0.705          1.431          0              90             0              40
  20  KeyChain        -1.774         0.447          0.273          0              0              0              43
  21  Pillow          -3.341         0.645          0.468          0              0              0              37
  22  Plate           -2.184         0.452          0.400          0              0              0              43
  23  Statue          1.440          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: go forward to the chair and turn right and go forward to the end of the coffee table and turn left and go forward to the sofa and turn left and go forward to the TV stand | STEP 2: pick up candle from the TV stand | STEP 3: turn right and go forward to the chair and turn left and take a step and turn right and look up to the lamp | STEP 4: turn on the lamp | END