Task: place a box with a candle in it on top of the white cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.909          0.5            0              0              0
   1  Statue          -2.514         0.478          1.099          0              180            0              47
   2  Candle          0.109          1.043          2.306          0              0              0              32
   3  Candle          -3.114         0.479          1.349          0              0              0              47
   4  KeyChain        -0.378         0.842          0.322          0              0              0              31
   5  KeyChain        -2.125         0.404          4.120          0              0              0              46
   6  CreditCard      -4.273         0.545          3.588          0              0              0              40
   7  RemoteControl   -0.414         1.307          3.775          0              0              0              37
   8  Box             -3.190         0.659          -0.040         0              0              0              45
   9  Box             -2.264         0.667          1.251          0              0              0              47
  10  TissueBox       -0.189         1.307          4.106          0              0              0              37
  11  KeyChain        0.318          0.682          2.440          0              0              0              34
  12  Boots           -0.443         0.009          -0.549         0              339.553        0
  13  Candle          -2.514         0.479          1.286          0              0              0              47
  14  RemoteControl   -4.273         0.544          3.918          0              0              0              40
  15  CreditCard      0.120          0.867          1.551          0              0              0              33
  16  Laptop          -3.298         0.541          3.808          0              0              0              40
  17  Pillow          -3.707         0.635          3.745          0              0              0              40
  18  Statue          -0.245         1.307          3.444          0              0              0              37
  19  GarbageCan      -5.166         -0.026         -0.382         0              0              0
  20  Television      0.145          1.528          1.996          0              270            0
  21  LightSwitch     -6.0           1.381          2.882          0              90             0
  22  Painting        -0.048         1.912          3.687          90             270            0
  23  Painting        -5.353         1.990          -0.694         90             180            0
  24  HousePlant      -0.289         0.840          0.301          0              0              0
  25  FloorLamp       -4.100         0.013          -0.468         0              0              0
  26  Window          -4.131         1.557          -0.827         90             180            0
  27  Window          -0.972         1.557          -0.827         90             180            0
  28  Window          -2.553         1.557          -0.827         90             180            0
  29  Drawer          -0.359         0.583          0.516          0              270            0
  30  Drawer          -0.359         0.220          0.516          0              270            0
  31  SideTable       -0.276         0.015          0.516          0              270            0
  32  TVStand         0.172          0.591          1.982          0              270            0
  33  DiningTable     0.172          0.859          1.982          0              270            0
  34  DiningTable     0.172          0.673          1.982          0              270            0
  35  Drawer          -0.309         1.052          3.610          0              270            0
  36  Drawer          -0.309         0.761          3.610          0              270            0
  37  Dresser         -0.265         0.007          3.609          0              270            0
  38  Drawer          -0.309         0.471          3.610          0              270            0
  39  Drawer          -0.309         0.181          3.610          0              270            0
  40  Sofa            -3.786         0.015          3.893          0              180            0
  41  RoomDecor       -5.815         0.010          4.406          0              0              0
  42  RoomDecor       -0.333         0.010          4.396          0              0              0
  43  RoomDecor       -0.178         0.010          -0.448         0              0              0
  44  RoomDecor       -5.805         0.010          -0.486         0              0              0
  45  Sofa            -2.683         0.011          -0.124         0              0              0
  46  ArmChair        -2.062         0.014          4.216          0              180            0
  47  CoffeeTable     -2.646         0.007          1.150          0              0              0
  48  Chair           -1.347         0.009          4.243          0              180            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: move around the coffee table to face the front of it | STEP 2: pick the candle up off of the table | STEP 3: move to the left a bit and face the table again | STEP 4: place the candle inside of the box on the table | STEP 5: pick the box up from the table | STEP 6: move over to the left side wall with the white cabinet | STEP 7: place the box on top of the white cabinet | END