Task: Place a candle holder with 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              -2.0           0.899          0.25           0              180            0
   1  SoapBar            -3.307         0.925          -0.808         0              90             0              36
   2  SprayBottle        -3.569         0.118          -0.485         0              0              0              26
   3  Towel              0.136          1.121          -2.080         0              0              0              25
   4  Candle             -3.635         0.952          -1.284         0              0              0              24
   5  Cloth              -1.761         1.043          -2.030         0              0              0              31
   6  HandTowel          -3.711         1.474          -0.410         0              270            0              28
   7  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
   8  SoapBottle         -3.296         0.084          -2.042         0              0              0              14
   9  SoapBar            -3.307         0.925          -2.015         0              90             0              27
  10  ToiletPaper        -2.089         1.040          -2.122         0              0              0              31
  11  ToiletPaper        -2.305         0.755          -2.157         0              0              90             30
  12  SprayBottle        -3.295         0.084          -0.872         0              0              0              23
  13  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  14  Cabinet            -3.169         0.370          -2.188         0              0              0
  15  Window             -1.737         1.292          -2.286         0              0              0
  16  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  17  Cabinet            -3.169         0.370          -1.379         0              0              0
  18  Mirror             -3.730         1.481          -1.427         0              0              0
  19  Cabinet            -3.169         0.370          -1.398         0              0              0
  20  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  21  Sink               -3.391         0.841          -1.828         0              90             0
  22  FloorLamp          -3.539         1.020          -0.932         0              90             0
  23  Cabinet            -3.169         0.370          -0.592         0              0              0
  24  CounterTop         -3.426         0.883          -1.384         0              0              0
  25  TowelHolder        0.136          1.106          -2.187         0              0              0
  26  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  27  SinkBasin          -3.392         0.916          -1.820         0              90             0
  28  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  29  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  30  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  31  Toilet             -1.896         -0.001         -1.738         0              90             0
  32  LightSwitch        -2.052         1.292          1.000          0              180            0
  33  FloorLamp          -3.539         1.020          -1.830         0              90             0
  34  ShowerHead         0.232          1.026          0.375          0              315            0
  35  Sink               -3.391         0.841          -0.931         0              90             0
  36  SinkBasin          -3.392         0.916          -0.923         0              90             0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Head right at the toilet and walk to the middle of the vanity with two sinks. | STEP 2: Pick up the candle holder with the candle in between the sinks on the counter. | STEP 3: Head left and turn left at the wall to face the toilet. | STEP 4: Put the candle holder with the candle on the right side of the toilet tank in front of the full roll of toilet paper. | END