Task: Place a tray with a candle on 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           -4.75          0.908          2.25           0              270            0
   1  Plate           -3.709         0.798          1.906          0              0              0              55
   2  Newspaper       -3.192         0.532          8.640          0              90             0              61
   3  Watch           -0.503         0.676          0.293          0              239.437        0              50
   4  KeyChain        -3.192         0.535          8.321          0              270            0              61
   5  KeyChain        -3.788         0.326          4.718          0              0              0              53
   6  CreditCard      -3.13          0.533          8.427          0              90             0              61
   7  CreditCard      -0.622         0.675          8.683          0              329.437        0              51
   8  Box             -2.601         0.910          2.681          0              0              0              55
   9  Box             -2.324         0.910          1.906          0              0              0              55
  10  Laptop          -1.775         0.453          7.036          0              0              0              48
  11  Box             -3.155         0.910          2.061          0              0              0              55
  12  KeyChain        -0.542         0.677          8.549          0              329.437        0              51
  13  Plate           -3.432         0.797          2.526          0              0              0              55
  14  Candle          -3.327         0.456          6.347          0              0              0              52
  15  Pillow          -1.721         0.519          5.725          0              0              0              48
  16  Candle          -0.624         0.667          8.444          0              0              0              51
  17  TissueBox       -2.601         0.783          1.751          0              0              0              55
  18  Laptop          -2.047         0.780          2.526          0              0              0              55
  19  Newspaper       -3.026         0.456          6.138          0              0              0              52
  20  CreditCard      -0.431         0.675          8.360          0              329.437        0              51
  21  RemoteControl   -3.026         0.457          6.347          0              0              0              52
  22  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  23  Candle          -3.227         0.460          6.973          0              0              0              52
  24  Statue          -2.878         0.883          2.681          0              0              0              55
  25  Watch           -3.289         0.533          8.346          0              180            0              61
  26  Statue          -3.709         0.791          2.216          0              0              0              55
  27  Mirror          -5.489         1.825          6.505          0              0              0
  28  FloorLamp       -5.645         0.013          8.526          0              0              0
  29  HousePlant      -3.203         0.452          6.798          0              0              0
  30  HousePlant      -5.358         1.476          5.442          0              343.031        0
  31  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  32  Television      -3.114         0.996          8.693          1.686          180            0
  33  LightSwitch     -6.0           1.338          3.433          0              90             0
  34  Painting        -5.954         1.526          1.153          90             270            0
  35  Window          0.157          1.203          6.895          90             90             0
  36  Window          -4.855         1.203          -0.158         90             180            0
  37  Window          0.157          1.203          4.923          90             90             0
  38  Window          0.157          1.203          2.986          90             90             0
  39  Window          0.157          1.203          1.088          90             90             0
  40  Window          -2.942         1.203          -0.158         90             180            0
  41  Window          -1.057         1.203          -0.158         90             180            0
  42  DeskLamp        -0.432         0.684          8.644          0              0              0
  43  DeskLamp        -0.346         0.684          0.335          0              0              0
  44  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  45  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  46  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  47  Chair           -3.327         0.015          1.701          358.828        0              358.738
  48  Sofa            -1.706         0.002          6.448          0              270            0
  49  Chair           -0.328         0.016          0.998          0              246.550        0
  50  SideTable       -0.396         0.008          0.357          0              329.435        0
  51  SideTable       -0.527         0.008          8.521          0              329.431        0
  52  CoffeeTable     -3.236         0.010          6.598          0              270            0
  53  ArmChair        -3.663         0.012          4.562          0              0              0
  54  ArmChair        -2.691         0.012          4.618          0              0              0
  55  DiningTable     -2.903         0.010          2.225          0              0              0
  56  RoomDecor       -0.189         0.009          3.909          0              0              0
  57  RoomDecor       -0.189         0.009          2.097          0              0              0
  58  RoomDecor       -0.190         0.009          5.855          0              0              0
  59  RoomDecor       -3.957         0.009          0.254          0              0              0
  60  RoomDecor       -2.036         0.009          0.254          0              0              0
  61  CoffeeTable     -3.129         0.016          8.533          0              0              0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn around and go to the low coffee table that is surrounded by couches. | STEP 2: Pick up the candle that is sitting on the table. | STEP 3: Turn right and go to the head of the large dining table, face the dog statue. | STEP 4: Place the candle on the black place mat that is on the left. | STEP 5: Pick up the place mat with the candle on it. | STEP 6: Turn around and return to the coffee table. | STEP 7: Place the place mat with candle on the coffee table. | END