Task: Put a candle on the metal shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.901          1.0            0              0              0
   1  Cloth              -0.311         0.053          1.345          0              0              0              23
   2  Cloth              -0.058         0.053          1.114          0              0              0              23
   3  Candle             0.416          1.048          3.231          0              270            0              38
   4  Candle             0.355          1.048          2.903          0              270            0              38
   5  SprayBottle        -2.761         1.544          3.940          0              0              0              34
   6  SoapBottle         -0.773         0.633          0.017          0              0              0              26
   7  Towel              -2.05          1.059          -0.183         0              0              0              28
   8  HandTowel          -3.419         1.338          2.102          0              270            0              36
   9  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  10  SoapBar            -0.962         0.042          3.832          0              0              0              35
  11  ToiletPaper        0.355          1.043          3.034          0              270            0              38
  12  SoapBottle         -0.497         0.633          -0.200         0              137.956        0              26
  13  ToiletPaper        0.260          0.627          -0.158         0              47.956         0              26
  14  Cloth              -3.093         0.233          0.078          0              270            0              42
  15  PaperTowelRoll     -0.819         0.149          3.805          0              270            0              35
  16  Candle             0.477          1.048          2.969          0              270            0              38
  17  SprayBottle        -0.771         0.044          3.86           0              0              0              35
  18  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  19  DishSponge         -0.773         0.632          1.535          0              0              0              26
  20  Faucet             -0.141         0.524          -0.211         0              0              0
  21  Window             -1.507         1.322          -0.364         0              0              0
  22  Faucet             -3.401         1.017          1.531          0              90             0
  23  BathtubBasin       -0.155         0.042          0.884          0              0              0
  24  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  25  ShowerHead         -0.126         1.447          2.047          0              270            0
  26  Bathtub            -0.205         0.359          0.924          0              0              0
  27  Mirror             -3.447         1.575          1.516          0              0              0
  28  TowelHolder        -2.049         1.045          -0.290         0              0              0
  29  TowelHolder        -1.304         1.045          -0.290         0              0              0
  30  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  31  Shelf              -2.587         0.778          3.909          0              0              0
  32  Shelf              -2.587         1.287          3.941          0              0              0
  33  Shelf              -2.587         1.032          3.941          0              0              0
  34  Shelf              -2.587         1.534          3.909          0              0              0
  35  GarbageCan         0.047          -0.002         3.878          0              0              0
  36  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  37  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  38  Toilet             0.063          0.002          3.096          0              0              0
  39  LightSwitch        -3.459         1.437          2.496          0              90             0
  40  Sink               -3.115         -0.013         1.531          0              90             0
  41  SinkBasin          -3.081         0.935          1.537          0              90             0
  42  SideTable          -3.171         0.002          0.170          0              270            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Go across the room to the wall, then turn right and go to the toilet.  | STEP 2: Pick up the candle on the back, left side of the toilet tank.  | STEP 3: Turn around and go past the bath tub, then turn left and go across the room, turn right at the wall and go to the metal shelf in the corner.  | STEP 4: Place the candle on the second shelf.  | END