Task: Place a box with a candle on the coffee table in front of the sofa.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.908          6.75           0              0              0
   1  Candle          -3.129         0.536          8.346          0              180            0              60
   2  TissueBox       -2.601         0.783          2.371          0              0              0              54
   3  Watch           -3.317         0.533          8.640          0              90             0              60
   4  Statue          -3.432         0.792          1.751          0              0              0              54
   5  KeyChain        -1.852         0.456          6.441          0              0              0              47
   6  KeyChain        -3.327         0.459          6.973          0              270            0              51
   7  CreditCard      -3.289         0.533          8.534          0              180            0              60
   8  RemoteControl   -0.463         0.676          8.414          0              329.437        0              50
   9  RemoteControl   -3.026         0.458          5.930          0              0              0              51
  10  Box             -2.324         0.910          2.371          0              270            0              54
  11  KeyChain        -2.926         0.457          5.930          0              0              0              51
  12  Plate           -2.324         0.798          1.906          0              0              0              54
  13  Candle          -0.354         0.676          0.163          0              329.437        0              49
  14  Pillow          -1.721         0.519          5.725          0              0              0              47
  15  Candle          -3.608         0.534          8.471          0              180            0              60
  16  TissueBox       -2.878         0.783          2.216          0              0              0              54
  17  Laptop          -3.432         0.779          2.216          0              0              0              54
  18  Newspaper       -2.628         0.326          4.774          0              0              0              53
  19  CreditCard      -2.324         0.781          2.681          0              0              0              54
  20  RemoteControl   -3.155         0.783          2.216          0              0              0              54
  21  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  22  Candle          -3.126         0.460          6.556          0              0              0              51
  23  Statue          -3.327         0.557          7.182          0              0              0              51
  24  Watch           -3.432         0.782          1.906          0              0              0              54
  25  Statue          -3.227         0.466          5.930          0              0              0              51
  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: Walk straight towards the end of the couch, turn left towards the tv stand, walk passed the tv, and then turn right to face the tv stand. | STEP 2: Pick up the candle from the tv stand. | STEP 3: Turn around, head towards the end of the sofa, turn left towards the table on your right. | STEP 4: Place the candle inside the box on the table. | STEP 5: Pick up the box from the table. | STEP 6: Turn right, walk past the table, turn left towards the coffee table to your right. | STEP 7: Place the box on the table to the left of the tv remote. | END