Task: Place a candle on a 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          2.75           0              0              0
   1  SoapBar            0.349          0.092          3.839          0              0              0              42
   2  SoapBar            -1.867         0.067          3.355          0              0              0              30
   3  Candle             -1.700         0.069          2.891          0              0              0              29
   4  Candle             -1.782         0.069          2.998          0              0              0              29
   5  Candle             -1.659         0.069          3.540          0              0              0              26
   6  SprayBottle        -1.864         0.069          2.927          0              0              0              29
   7  SprayBottle        0.303          1.164          3.765          0              0              0              50
   8  SoapBottle         -1.703         0.015          2.246          0              90             0              23
   9  Towel              -0.07          1.284          0.106          0              0              0              31
  10  HandTowel          -1.731         1.333          3.961          0              0              0              33
  11  SoapBar            -1.695         0.770          3.122          0              0              0              21
  12  ToiletPaper        -1.831         0.584          2.390          0              180            90             36
  13  ToiletPaper        -1.795         0.013          2.246          0              0              0              23
  14  Cloth              -1.284         0.074          0.470          0              90             0              22
  15  SprayBottle        -1.890         1.045          2.009          0              90             0              39
  16  Candle             -0.327         0.447          0.126          0              0              0              20
  17  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  18  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  19  SoapBottle         -1.747         0.069          2.637          0              0              0              23
  20  Bathtub            -1.414         -0.002         0.563          0              0              0
  21  CounterTop         -1.799         0.746          3.122          0              0              0
  22  BathtubBasin       -1.613         0.052          0.540          0              0              0
  23  Cabinet            -1.613         0.309          2.493          0              0              0
  24  ShowerDoor         0.527          1.037          2.115          0              0              0
  25  Mirror             -1.993         1.424          3.107          0              0              0
  26  Cabinet            -1.613         0.309          3.754          0              0              0
  27  Faucet             -1.873         0.461          0.641          0              0              0
  28  Sink               -1.834         0.685          2.777          0              90             0
  29  Cabinet            -1.613         0.309          3.105          0              0              0
  30  Cabinet            -1.613         0.309          3.140          0              0              0
  31  TowelHolder        -0.070         1.269          0.0            0              0              0
  32  GarbageCan         0.932          -0.029         3.761          0              0              0
  33  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  34  Window             -1.039         1.393          0.018          90             0              0
  35  Window             -1.986         1.392          0.706          90             90             0
  36  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  37  SinkBasin          -1.795         0.694          2.781          0              90             0
  38  LightSwitch        1.250          1.330          3.621          0              270            0
  39  Toilet             -1.567         -0.000         1.815          0              180            0
  40  Drawer             0.204          0.940          3.807          0              180            0
  41  Dresser            0.204          0.000          3.832          0              180            0
  42  Drawer             0.204          0.160          3.807          0              180            0
  43  Drawer             0.204          0.420          3.807          0              180            0
  44  Drawer             0.204          0.680          3.807          0              180            0
  45  SinkBasin          -1.795         0.694          3.476          0              90             0
  46  Sink               -1.833         0.685          3.472          0              90             0
  47  Faucet             -1.988         0.947          3.472          0              180            0
  48  ShowerHead         0.972          1.222          2.015          0              270            0
  49  Faucet             -1.988         0.947          2.776          0              180            0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn left and walk ahead, veering right to the right sink. | STEP 2: Pick up the green candle in the bottom right cabinet. | STEP 3: Turn left and walk to the toilet. | STEP 4: Place the candle on the toilet tank lid. | END