Task: place a candle on top of the towel rack

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.913          -1.25          0              0              0
   1  Cloth              2.204          0.622          -2.168         0              0              0              34
   2  Cloth              0.430          0.961          -1.899         0              0              0              26
   3  TissueBox          0.111          0.963          -2.087         0              0              0              26
   4  DishSponge         0.414          0.439          -1.905         0              0              0              30
   5  SoapBottle         1.355          0.634          -2.242         0              0              0              34
   6  SoapBottle         0.010          0.976          2.304          0              270            0              40
   7  Candle             -0.208         0.962          -2.275         0              0              0              26
   8  HandTowel          -0.885         1.617          -2.503         0              180            0              35
   9  Towel              0.465          1.21           -1.095         0              270            0              31
  10  SoapBottle         0.135          0.976          2.277          0              270            0              40
  11  SoapBar            -2.713         0.884          0.639          0              90             0              42
  12  ToiletPaper        0.930          0.620          -2.315         0              0              0              34
  13  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  14  SprayBottle        -2.977         0.243          1.551          0              90             0              45
  15  TissueBox          -2.751         0.246          1.395          0              90             0              45
  16  ToiletPaper        -0.239         0.962          2.330          0              270            0              40
  17  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  18  Cloth              -2.921         0.242          1.317          0              90             0              45
  19  DishSponge         -1.722         0.078          -1.669         0              45             0              26
  20  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  21  Bathtub            -1.957         0.494          -1.233         0              0              0
  22  ShowerDoor         0.650          1.413          2.169          0              0              0
  23  ShowerGlass        0.0            0.0            0.0            0              0              0
  24  Drawer             0.300          0.304          -1.820         0              0              0
  25  Mirror             -0.046         1.512          -2.538         0              0              0
  26  CounterTop         0.196          0.430          -2.010         0              0              0
  27  Sink               -2.796         0.328          0.755          0              90             0
  28  Drawer             0.300          0.833          -1.820         0              0              0
  29  Drawer             0.300          0.682          -1.820         0              0              0
  30  Drawer             0.300          0.492          -1.820         0              0              0
  31  TowelHolder        0.572          1.195          -1.095         0              270            0
  32  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  33  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  34  Shelf              1.536          0.613          -2.242         0              0              0
  35  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  36  Window             -3.170         1.812          -1.697         90             90             0
  37  Window             -3.170         1.812          1.597          90             90             0
  38  Window             -2.144         1.809          -2.573         90             0              0
  39  Window             -3.170         1.812          -0.054         90             90             0
  40  Toilet             -0.064         0.012          1.838          0              180            0
  41  LightSwitch        -1.406         1.472          2.407          0              180            0
  42  SinkBasin          -2.796         0.875          0.765          0              90             0
  43  ShowerHead         1.591          1.700          -2.424         0              90             0
  44  Faucet             -2.676         0.423          -0.312         0              99.958         0
  45  SideTable          -2.847         0.013          1.509          0              90             0
  46  Faucet             -3.106         1.056          0.757          0              90             0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn around and face the bathroom counter top of the bathroom cabinet | STEP 2: grab a candle off of the top of the bathroom cabinet | STEP 3: turn around and walk over to the toilet at the end of the room, then turn left and walk over to the towel rack at the end of the room | STEP 4: place the candle down on top of the towel rack there | END