Task: Put a grey plate with a candle on it on a 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           -0.25          0.908          6.25           0              270            0
   1  Newspaper       -3.432         0.781          2.061          0              0              0              51
   2  Watch           -3.155         0.781          1.906          0              0              0              51
   3  Watch           -3.126         0.457          6.556          0              0              0              48
   4  KeyChain        -3.709         0.783          2.061          0              0              0              51
   5  Box             -2.324         0.910          2.216          0              0              0              51
   6  Box             -2.878         0.910          2.681          0              0              0              51
   7  Box             -1.852         0.583          7.036          0              0              0              44
   8  KeyChain        -3.725         0.328          4.718          0              0              0              49
   9  Plate           -3.432         0.797          2.526          0              0              0              51
  10  Candle          -0.612         0.676          8.544          0              239.437        0              47
  11  Pillow          -1.852         0.516          6.441          0              0              0              44
  12  Candle          -0.624         0.667          8.444          0              0              0              47
  13  TissueBox       -2.942         0.535          8.214          0              90             0              57
  14  Laptop          -2.324         0.780          2.526          0              0              0              51
  15  Newspaper       -3.026         0.456          6.764          0              180            0              48
  16  CreditCard      -3.026         0.455          6.973          0              0              0              48
  17  RemoteControl   -2.691         0.331          4.638          0              0              0              50
  18  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  19  Candle          -2.324         0.784          1.906          0              0              0              51
  20  Statue          -3.608         0.635          8.471          0              90             0              57
  21  Watch           -0.541         0.676          0.234          0              239.437        0              46
  22  Statue          -2.601         0.791          1.906          0              0              0              51
  23  Mirror          -5.489         1.825          6.505          0              0              0
  24  FloorLamp       -5.645         0.013          8.526          0              0              0
  25  HousePlant      -3.203         0.452          6.798          0              0              0
  26  HousePlant      -5.358         1.476          5.442          0              343.031        0
  27  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  28  Television      -3.114         0.996          8.693          1.686          180            0
  29  LightSwitch     -6.0           1.338          3.433          0              90             0
  30  Painting        -5.954         1.526          1.153          90             270            0
  31  Window          0.157          1.203          6.895          90             90             0
  32  Window          -4.855         1.203          -0.158         90             180            0
  33  Window          0.157          1.203          4.923          90             90             0
  34  Window          0.157          1.203          2.986          90             90             0
  35  Window          0.157          1.203          1.088          90             90             0
  36  Window          -2.942         1.203          -0.158         90             180            0
  37  Window          -1.057         1.203          -0.158         90             180            0
  38  DeskLamp        -0.432         0.684          8.644          0              0              0
  39  DeskLamp        -0.346         0.684          0.335          0              0              0
  40  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  41  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  42  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  43  Chair           -3.327         0.015          1.701          358.828        0              358.738
  44  Sofa            -1.706         0.002          6.448          0              270            0
  45  Chair           -0.328         0.016          0.998          0              246.550        0
  46  SideTable       -0.396         0.008          0.357          0              329.435        0
  47  SideTable       -0.527         0.008          8.521          0              329.431        0
  48  CoffeeTable     -3.236         0.010          6.598          0              270            0
  49  ArmChair        -3.663         0.012          4.562          0              0              0
  50  ArmChair        -2.691         0.012          4.618          0              0              0
  51  DiningTable     -2.903         0.010          2.225          0              0              0
  52  RoomDecor       -0.189         0.009          3.909          0              0              0
  53  RoomDecor       -0.189         0.009          2.097          0              0              0
  54  RoomDecor       -0.190         0.009          5.855          0              0              0
  55  RoomDecor       -3.957         0.009          0.254          0              0              0
  56  RoomDecor       -2.036         0.009          0.254          0              0              0
  57  CoffeeTable     -3.129         0.016          8.533          0              0              0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Begin walking to the couch, then turn left and walk over to the end of the dining table. | STEP 2: Pick up the candle that is on the dining table. | STEP 3: Turn left and begin walking to the window, then hang a right and walk around the coffee table to the other end. | STEP 4: Place the candle on the grey plate that is closest to you on the dining table. | STEP 5: Pick up the grey plate with the candle on it. | STEP 6: Turn left and walk over to the side of the coffee table. | STEP 7: Place the grey plate with the candle on it on the center of the coffee table. | END