Task: Place a candle on a toilet tank lid.

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           0.901          2.25           0              180            0
   1  Cloth              0.558          0.216          2.939          0              0              0              30
   2  Cloth              0.558          0.517          2.235          0              0              0              24
   3  SoapBar            0.390          0.210          3.231          0              0              0              31
   4  SoapBar            0.257          0.819          2.161          0              0              0              28
   5  Candle             0.455          0.821          3.129          0              0              0              28
   6  Candle             0.446          0.212          3.352          0              0              0              31
   7  Candle             0.614          0.513          3.432          0              0              0              20
   8  ToiletPaper        0.502          0.509          3.271          0              0              0              20
   9  SoapBottle         0.596          0.809          3.415          0              225            0              28
  10  HandTowel          0.634          1.512          1.892          0              90             0              38
  11  Towel              0.609          1.376          0.583          0              270            0              32
  12  SoapBar            0.566          0.207          3.844          0              0              0              36
  13  ToiletPaper        0.594          1.041          1.533          0              270            0              40
  14  ToiletPaper        0.624          1.041          1.336          0              270            0              40
  15  Candle             0.455          0.821          2.216          0              0              0              28
  16  ScrubBrush         0.553          0.000          1.725          0              0              0
  17  Cloth              0.588          0.824          3.239          0              0              0              28
  18  Plunger            0.594          -0.000         1.898          0              0              0
  19  SprayBottle        0.257          0.820          3.294          0              0              0              28
  20  Drawer             0.443          0.624          3.310          0              0              0
  21  Drawer             0.443          0.323          2.194          0              0              0
  22  ShowerDoor         -0.923         1.032          1.155          0              0              0
  23  Sink               0.495          0.661          2.756          0              270            0
  24  Drawer             0.443          0.624          2.193          0              0              0
  25  Faucet             0.717          0.982          2.756          0              0              0
  26  Mirror             0.629          1.532          2.697          0              0              0
  27  ShowerGlass        -0.152         1.266          1.156          0              0              0
  28  CounterTop         0.458          0.789          2.759          0              0              0
  29  Drawer             0.443          0.323          2.566          0              0              0
  30  Drawer             0.443          0.323          2.937          0              0              0
  31  Drawer             0.443          0.323          3.310          0              0              0
  32  TowelHolder        0.716          1.361          0.583          0              270            0
  33  TowelHolder        -0.442         1.361          1.175          0              0              0
  34  LightSwitch        -1.749         1.429          3.325          0              90             0
  35  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  36  GarbageCan         0.412          -0.029         3.728          0              0              0
  37  SinkBasin          0.440          0.667          2.746          0              270            0
  38  HandTowelHolder    0.673          1.613          1.891          0              180            0
  39  HandTowelHolder    0.673          1.613          3.563          0              180            0
  40  Toilet             0.270          0.000          1.463          0              0              0
  41  ShowerHead         -1.705         1.894          0.587          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn left and face the counter. | STEP 2: Pick up the green candle. | STEP 3: Take a step to the right. | STEP 4: Place the candle on the toilet tank, in front and to the left of the toilet paper roll. | END