Task: put candle on top of 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              -1.0           0.900          2.25           0              90             0
   1  Cloth              0.008          1.163          3.797          0              0              0              43
   2  Cloth              -1.235         0.074          0.764          0              315            0              24
   3  SoapBar            -1.668         0.067          2.637          0              0              0              25
   4  Candle             0.349          0.353          3.768          0              0              0              45
   5  Candle             0.204          1.164          3.894          0              0              0              43
   6  Candle             -1.839         0.772          3.147          0              0              0              23
   7  SprayBottle        -1.700         0.069          3.611          0              0              0              28
   8  SprayBottle        -1.864         0.069          3.611          0              0              0              28
   9  SoapBottle         0.401          1.160          3.861          0              0              0              52
  10  ToiletPaper        -1.825         0.010          2.246          0              0              0              25
  11  Towel              -0.07          1.284          0.106          0              0              0              33
  12  HandTowel          -1.731         1.333          3.961          0              0              0              35
  13  SoapBar            -0.012         0.092          3.792          0              0              0              44
  14  ToiletPaper        -0.500         0.443          0.126          0              0              0              22
  15  ToiletPaper        0.303          1.156          3.894          0              0              0              52
  16  Cloth              -1.158         0.074          0.211          0              90             0              24
  17  SprayBottle        -1.860         1.045          1.943          0              90             0              41
  18  Candle             -1.787         0.069          2.709          0              0              0              25
  19  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  20  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  21  SoapBottle         -1.823         0.069          2.927          0              0              0              31
  22  Bathtub            -1.414         -0.002         0.563          0              0              0
  23  CounterTop         -1.799         0.746          3.122          0              0              0
  24  BathtubBasin       -1.613         0.052          0.540          0              0              0
  25  Cabinet            -1.613         0.309          2.493          0              0              0
  26  ShowerDoor         0.527          1.037          2.115          0              0              0
  27  Mirror             -1.993         1.424          3.107          0              0              0
  28  Cabinet            -1.613         0.309          3.754          0              0              0
  29  Faucet             -1.873         0.461          0.641          0              0              0
  30  Sink               -1.834         0.685          2.777          0              90             0
  31  Cabinet            -1.613         0.309          3.105          0              0              0
  32  Cabinet            -1.613         0.309          3.140          0              0              0
  33  TowelHolder        -0.070         1.269          0.0            0              0              0
  34  GarbageCan         0.932          -0.029         3.761          0              0              0
  35  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  36  Window             -1.039         1.393          0.018          90             0              0
  37  Window             -1.986         1.392          0.706          90             90             0
  38  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  39  SinkBasin          -1.795         0.694          2.781          0              90             0
  40  LightSwitch        1.250          1.330          3.621          0              270            0
  41  Toilet             -1.567         -0.000         1.815          0              180            0
  42  Drawer             0.204          0.940          3.807          0              180            0
  43  Dresser            0.204          0.000          3.832          0              180            0
  44  Drawer             0.204          0.160          3.807          0              180            0
  45  Drawer             0.204          0.420          3.807          0              180            0
  46  Drawer             0.204          0.680          3.807          0              180            0
  47  SinkBasin          -1.795         0.694          3.476          0              90             0
  48  Sink               -1.833         0.685          3.472          0              90             0
  49  Faucet             -1.988         0.947          3.472          0              180            0
  50  ShowerHead         0.972          1.222          2.015          0              270            0
  51  Faucet             -1.988         0.947          2.776          0              180            0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: walk to face cabinet below left sink | STEP 2: remove green candle from cabinet | STEP 3: walk to face toilet tank | STEP 4: put candle on top of toilet tank | END