Task: place a box with a candle inside down on top of the coffee table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.908          1.5            0              90             0
   1  Plate           -3.709         0.798          1.906          0              0              0              54
   2  TissueBox       -3.155         0.783          2.371          0              0              0              54
   3  TissueBox       -2.047         0.783          2.371          0              0              0              54
   4  Newspaper       -3.155         0.781          1.751          0              0              0              54
   5  Newspaper       -2.324         0.781          1.906          0              0              0              54
   6  Watch           -3.432         0.782          2.061          0              0              0              54
   7  Statue          -3.709         0.792          2.681          0              0              0              54
   8  KeyChain        -1.928         0.456          7.036          0              0              0              47
   9  CreditCard      -0.250         0.675          0.479          0              239.437        0              49
  10  Box             -1.852         0.583          7.334          0              0              0              47
  11  KeyChain        -3.129         0.535          8.409          0              0              0              60
  12  Plate           -2.878         0.798          2.371          0              0              0              54
  13  Candle          -0.596         0.676          8.517          0              239.437        0              50
  14  Pillow          -1.721         0.519          5.725          0              0              0              47
  15  Candle          -3.432         0.782          1.751          0              0              0              54
  16  TissueBox       -3.709         0.783          2.371          0              0              0              54
  17  Laptop          -3.216         0.450          6.333          0              0              0              51
  18  Newspaper       -2.324         0.781          2.681          0              0              0              54
  19  CreditCard      -2.004         0.454          7.334          0              0              0              47
  20  RemoteControl   -2.324         0.782          2.061          0              0              0              54
  21  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  22  Candle          -3.13          0.536          8.321          0              90             0              60
  23  Statue          -2.810         0.635          8.471          0              180            0              60
  24  Watch           -0.246         0.676          0.227          0              329.437        0              49
  25  Statue          -2.601         0.791          2.371          0              90             0              54
  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: turn around and walk forwards a bit, then turn right and walk down to the end of the room, take a left and walk forwards a bit and move around to face the front of the small oval table | STEP 2: grab the candle off of the small oval table | STEP 3: turn around and move over to the front of the couch in front of you on your left | STEP 4: place the candle down inside the box on the couch | STEP 5: pick up the box with the candle inside of it | STEP 6: move around to the opposite side of the coffee table behind you, then face the coffee table | STEP 7: place the box down on top of the coffee table | END