Task: place a 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 over to the corner circle table | STEP 2: pick the candle up off of the table | STEP 3: bring the cable over to the dining room table | STEP 4: place the candle in the cardboard box on the table | STEP 5: pick up the cardboard box off of the table | STEP 6: bring the box over to the coffee table in front of the couch | STEP 7: place the box on the coffee table to the right of the plant | END