Task: place candle in holder on toilet tank

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.5            0.900          -1.5           0              270            0
   1  Cloth              -1.862         0.042          -2.968         0              270            0              30
   2  Candle             0.767          0.817          -1.874         0              90             0              34
   3  Candle             -1.555         0.817          -0.193         0              0              0              32
   4  SprayBottle        0.726          0.815          -0.926         0              90             0              33
   5  SprayBottle        0.726          0.815          -0.724         0              90             0              33
   6  SoapBottle         -0.070         0.955          -3.901         0              90             0              28
   7  SoapBottle         -1.555         0.821          -0.108         0              0              0              32
   8  SoapBottle         0.054          0.955          -3.901         0              90             0              28
   9  Cloth              -1.862         0.042          -3.255         0              270            0              30
  10  Candle             -1.656         0.817          -0.080         0              0              0              32
  11  HandTowel          -2.166         1.500          -0.037         0              0              0              25
  12  Towel              -1.525         1.685          -0.105         0              180            0              23
  13  SoapBar            0.867          0.818          -0.926         0              90             0              33
  14  ToiletPaper        -0.556         0.082          -3.778         0              0              0              24
  15  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  16  SprayBottle        0.839          0.815          -0.724         0              90             0              33
  17  TissueBox          -1.353         0.818          -0.108         0              0              0              32
  18  ToiletPaper        0.405          0.729          -3.885         0              0              270            31
  19  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  20  Sink               -2.171         0.294          -0.660         0              90             0
  21  Bathtub            -2.122         -0.088         -3.116         0              0              0
  22  Mirror             -2.503         1.423          -0.703         0              0              0
  23  TowelHolder        -1.524         1.671          0.001          0              180            0
  24  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  25  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  26  LightSwitch        0.321          1.327          0.000          0              180            0
  27  Window             -0.540         1.625          -3.996         90             0              0
  28  Toilet             0.004          -0.000         -3.436         0              0              0
  29  SinkBasin          -2.176         0.824          -0.659         0              0              0
  30  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  31  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  32  SideTable          -1.526         0.001          -0.172         0              0              0
  33  SideTable          0.780          0.001          -0.667         0              90             0
  34  SideTable          0.793          0.001          -1.817         0              90             0
  35  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  36  Faucet             -2.431         0.982          -0.660         0              90             0
  37  Faucet             -1.909         0.666          -3.855         0              180            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn around to white cabinet | STEP 2: pick up candle in holder from white cabinet | STEP 3: turn right, go to right side of toilet | STEP 4: place candle in holder on right side of toilet tank | END