Task: Move a candle to the 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              -1.25          0.900          3.25           0              270            0
   1  Cloth              -3.552         0.185          3.529          0              347.395        0              21
   2  Cloth              -3.242         0.185          2.917          0              347.395        0              21
   3  SoapBar            -0.661         0.037          5.066          0              0              0              31
   4  SoapBar            -1.746         0.037          4.827          0              0              0              30
   5  SprayBottle        -0.711         0.038          4.768          0              0              0              31
   6  SoapBottle         -3.597         0.546          1.109          0              90             0              38
   7  SoapBottle         -1.279         0.044          4.828          0              0              0              32
   8  Towel              -0.181         1.419          2.425          0              270            0              36
   9  Candle             -0.252         0.972          4.946          0              0              0              28
  10  SoapBottle         -0.224         1.049          3.092          0              270            0              42
  11  HandTowel          -2.093         1.442          5.107          0              0              0              39
  12  Towel              -1.719         1.228          1.846          0              0              0              35
  13  SoapBar            -0.222         0.963          5.084          0              0              0              28
  14  ToiletPaper        -0.153         1.126          3.705          0              270            270            41
  15  TissueBox          -3.597         0.541          0.373          0              90             0              38
  16  Cloth              -1.095         0.964          4.933          0              0              0              28
  17  ToiletPaper        -0.911         0.034          4.768          0              0              0              31
  18  SprayBottle        -1.008         0.964          5.065          0              0              0              28
  19  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  20  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  21  BathtubBasin       -3.404         0.166          2.904          0              0              0
  22  Cabinet            -0.124         0.364          4.634          0              0              0
  23  Bathtub            -2.896         0.667          2.860          0              0              0
  24  Faucet             -3.475         0.711          3.811          0              0              0
  25  ShowerGlass        0.0            0.0            0.0            0              0              0
  26  ShowerDoor         -0.282         1.228          1.730          0              0              0
  27  Faucet             -1.524         1.047          5.096          0              180            0
  28  CounterTop         -1.023         0.954          4.884          0              0              0
  29  Mirror             -0.975         1.577          5.145          0              0              0
  30  Cabinet            -1.962         0.364          4.634          0              0              0
  31  Cabinet            -1.027         0.364          4.634          0              0              0
  32  Cabinet            -1.059         0.364          4.634          0              0              0
  33  Window             -1.993         1.888          0.144          0              0              0
  34  LightSwitch        -2.496         1.366          5.146          0              180            0
  35  TowelHolder        -1.720         1.213          1.740          0              0              0
  36  TowelHolder        -0.074         1.404          2.424          0              270            0
  37  GarbageCan         -2.346         0.002          4.878          0              180            0
  38  Shelf              -3.713         0.531          0.951          0              90             0
  39  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  40  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  41  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  42  Toilet             -0.517         -0.000         3.220          0              0              0
  43  ShowerHead         -0.182         1.256          0.875          0              0              0
  44  SinkBasin          -0.569         0.986          4.886          0              180            0
  45  Sink               -0.579         0.926          4.874          0              180            0
  46  Sink               -1.524         0.926          4.874          0              180            0
  47  SinkBasin          -1.514         0.986          4.886          0              180            0
  48  Faucet             -0.583         1.047          5.096          0              180            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move right then face the far right side of the counter top right of the sink | STEP 2: Pick up the candle stick on top of the sink | STEP 3: Carry the candle stick over to the toilet | STEP 4: Place the candle stick on top of the toilet on the far right side of the toilet tank | END