Task: place a candle in a carton on the white cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.909          3.0            0              180            0
   1  TissueBox       -0.357         1.307          3.941          0              0              0              38
   2  Candle          0.063          1.043          1.842          0              0              0              33
   3  Candle          0.109          1.043          1.687          0              0              0              33
   4  CreditCard      -2.000         0.404          4.183          0              0              0              47
   5  CreditCard      -2.175         0.462          -0.292         0              0              0              46
   6  RemoteControl   -0.349         0.462          0.586          0              0              0              30
   7  RemoteControl   -0.189         1.307          3.113          0              0              0              38
   8  Box             -3.190         0.659          0.043          0              0              0              46
   9  Laptop          -0.245         1.303          3.610          0              0              0              38
  10  Box             -2.264         0.667          1.251          0              0              0              48
  11  TissueBox       -2.514         0.478          1.036          0              0              0              48
  12  KeyChain        0.239          0.682          2.144          0              0              0              35
  13  Boots           -0.443         0.009          -0.549         0              339.553        0
  14  Candle          -0.378         0.844          0.224          0              0              0              32
  15  RemoteControl   0.109          1.041          2.151          0              0              0              33
  16  CreditCard      -2.063         0.389          4.245          0              0              0              47
  17  Laptop          -2.011         0.447          -0.086         0              332.629        0              46
  18  Pillow          -3.707         0.635          3.745          0              0              0              41
  19  Statue          -2.664         0.475          1.224          0              0              0              48
  20  GarbageCan      -5.166         -0.026         -0.382         0              0              0
  21  Television      0.145          1.528          1.996          0              270            0
  22  LightSwitch     -6.0           1.381          2.882          0              90             0
  23  Painting        -0.048         1.912          3.687          90             270            0
  24  Painting        -5.353         1.990          -0.694         90             180            0
  25  HousePlant      -0.289         0.840          0.301          0              0              0
  26  FloorLamp       -4.100         0.013          -0.468         0              0              0
  27  Window          -4.131         1.557          -0.827         90             180            0
  28  Window          -0.972         1.557          -0.827         90             180            0
  29  Window          -2.553         1.557          -0.827         90             180            0
  30  Drawer          -0.359         0.583          0.516          0              270            0
  31  Drawer          -0.359         0.220          0.516          0              270            0
  32  SideTable       -0.276         0.015          0.516          0              270            0
  33  TVStand         0.172          0.591          1.982          0              270            0
  34  DiningTable     0.172          0.859          1.982          0              270            0
  35  DiningTable     0.172          0.673          1.982          0              270            0
  36  Drawer          -0.309         1.052          3.610          0              270            0
  37  Drawer          -0.309         0.761          3.610          0              270            0
  38  Dresser         -0.265         0.007          3.609          0              270            0
  39  Drawer          -0.309         0.471          3.610          0              270            0
  40  Drawer          -0.309         0.181          3.610          0              270            0
  41  Sofa            -3.786         0.015          3.893          0              180            0
  42  RoomDecor       -5.815         0.010          4.406          0              0              0
  43  RoomDecor       -0.333         0.010          4.396          0              0              0
  44  RoomDecor       -0.178         0.010          -0.448         0              0              0
  45  RoomDecor       -5.805         0.010          -0.486         0              0              0
  46  Sofa            -2.683         0.011          -0.124         0              0              0
  47  ArmChair        -2.062         0.014          4.216          0              180            0
  48  CoffeeTable     -2.646         0.007          1.150          0              0              0
  49  Chair           -1.347         0.009          4.243          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: move forward towards a table, turn left and locate a white cupboard | STEP 2: pick the candle on top of the cupboard | STEP 3: turn around and head for the sofa | STEP 4: place the candle in the carton on the sofa | STEP 5: pick up the carton from the sofa | STEP 6: turn left and head back to the white cupboard | STEP 7: place the carton on the white cupboard | END