Task: Place a cardboard box with a candle in it on 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           -2.75          0.908          1.0            0              90             0
   1  Plate           -2.878         0.798          2.681          0              0              0              52
   2  Plate           -3.709         0.798          2.681          0              0              0              52
   3  TissueBox       -3.155         0.783          2.371          0              0              0              52
   4  Newspaper       -2.691         0.327          4.774          0              0              0              51
   5  Watch           -0.564         0.676          8.463          0              239.437        0              48
   6  KeyChain        -2.651         0.535          8.471          0              180            0              58
   7  RemoteControl   -3.788         0.326          4.718          0              270            0              50
   8  Box             -2.047         0.910          2.526          0              0              0              52
   9  KeyChain        -1.775         0.456          6.144          0              0              0              45
  10  Plate           -3.432         0.798          2.061          0              0              0              52
  11  Candle          -0.562         0.667          0.396          0              0              0              47
  12  Pillow          -1.721         0.519          5.725          0              0              0              45
  13  Candle          -0.624         0.667          8.444          0              0              0              48
  14  TissueBox       -3.709         0.783          2.371          0              0              0              52
  15  Laptop          -1.775         0.453          7.334          0              0              0              45
  16  Newspaper       -2.324         0.781          2.216          0              0              0              52
  17  CreditCard      -0.266         0.675          0.506          0              239.437        0              47
  18  RemoteControl   -3.026         0.458          6.138          0              0              0              49
  19  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  20  Candle          -3.608         0.536          8.471          0              180            0              58
  21  Statue          -3.709         0.883          1.906          0              0              0              52
  22  Watch           -0.518         0.676          0.502          0              329.437        0              47
  23  Statue          -2.324         0.792          2.526          0              0              0              52
  24  Mirror          -5.489         1.825          6.505          0              0              0
  25  FloorLamp       -5.645         0.013          8.526          0              0              0
  26  HousePlant      -3.203         0.452          6.798          0              0              0
  27  HousePlant      -5.358         1.476          5.442          0              343.031        0
  28  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  29  Television      -3.114         0.996          8.693          1.686          180            0
  30  LightSwitch     -6.0           1.338          3.433          0              90             0
  31  Painting        -5.954         1.526          1.153          90             270            0
  32  Window          0.157          1.203          6.895          90             90             0
  33  Window          -4.855         1.203          -0.158         90             180            0
  34  Window          0.157          1.203          4.923          90             90             0
  35  Window          0.157          1.203          2.986          90             90             0
  36  Window          0.157          1.203          1.088          90             90             0
  37  Window          -2.942         1.203          -0.158         90             180            0
  38  Window          -1.057         1.203          -0.158         90             180            0
  39  DeskLamp        -0.432         0.684          8.644          0              0              0
  40  DeskLamp        -0.346         0.684          0.335          0              0              0
  41  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  42  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  43  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  44  Chair           -3.327         0.015          1.701          358.828        0              358.738
  45  Sofa            -1.706         0.002          6.448          0              270            0
  46  Chair           -0.328         0.016          0.998          0              246.550        0
  47  SideTable       -0.396         0.008          0.357          0              329.435        0
  48  SideTable       -0.527         0.008          8.521          0              329.431        0
  49  CoffeeTable     -3.236         0.010          6.598          0              270            0
  50  ArmChair        -3.663         0.012          4.562          0              0              0
  51  ArmChair        -2.691         0.012          4.618          0              0              0
  52  DiningTable     -2.903         0.010          2.225          0              0              0
  53  RoomDecor       -0.189         0.009          3.909          0              0              0
  54  RoomDecor       -0.189         0.009          2.097          0              0              0
  55  RoomDecor       -0.190         0.009          5.855          0              0              0
  56  RoomDecor       -3.957         0.009          0.254          0              0              0
  57  RoomDecor       -2.036         0.009          0.254          0              0              0
  58  CoffeeTable     -3.129         0.016          8.533          0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Walk forward to the chair then turn left and walk all the way to the small circular table in the corner to the right way in front of you so you are facing the lamp. | STEP 2: Pick the candle up off of the table. | STEP 3: Turn around and walk until the dining room table is to your right then turn to face it. | STEP 4: Put the candle in the cardboard box. | STEP 5: Pick up the box with the candle in it. | STEP 6: Make your way over to the fireplace so the fireplace is directly to your left then turn right to face the coffee table in front of the couch. | STEP 7: Put the box on the table to the right of the plant. | END