Task: Put away candles in the bathroom cabinet

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          0.901          3.25           0              90             0
   1  TissueBox          -1.382         0.069          3.793          0              0              0              26
   2  Cloth              -1.500         0.067          3.327          0              0              0              24
   3  Candle             -1.416         0.994          2.269          0              0              0              25
   4  SoapBottle         -1.481         0.993          3.842          0              0              0              25
   5  Towel              -0.200         1.174          1.286          0              0              0              27
   6  HandTowel          -1.275         1.6            3.961          0              0              0              29
   7  SoapBar            -1.620         0.068          3.894          0              0              0              26
   8  ToiletPaper        0.356          0.809          1.299          0              270            270            33
   9  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  10  Candle             -1.613         0.994          2.269          0              0              0              25
  11  TissueBox          -1.307         0.984          3.185          0              0              0              25
  12  SoapBottle         0.351          0.892          1.618          0              0              0              31
  13  ToiletPaper        0.286          0.043          3.865          0              0              0              28
  14  SprayBottle        -1.322         0.069          2.857          0              0              0              24
  15  Cloth              -1.350         0.994          2.982          0              0              0              25
  16  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  17  Mirror             -1.703         1.661          3.509          0              0              0
  18  Cabinet            -1.187         0.394          3.030          0              0              0
  19  ShowerDoor         -1.631         1.014          1.170          0              0              0
  20  Cabinet            -1.187         0.394          2.127          0              0              0
  21  Sink               -1.326         0.960          2.567          0              90             0
  22  ShowerGlass        0.254          0.788          0.485          0              0              0
  23  Mirror             -1.703         1.661          2.480          0              0              0
  24  Cabinet            -1.187         0.394          3.063          0              0              0
  25  CounterTop         -1.348         0.972          2.945          0              0              0
  26  Cabinet            -1.187         0.394          3.966          0              0              0
  27  TowelHolder        -0.200         1.160          1.179          0              0              0
  28  GarbageCan         0.209          0.000          3.772          0              0              0
  29  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  30  Window             -0.726         1.667          -0.009         90             0              0
  31  Toilet             -0.039         0.090          1.733          0              270            0
  32  SinkBasin          -1.317         0.998          2.567          0              90             0
  33  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  34  LightSwitch        0.444          1.368          3.323          0              270            0
  35  Faucet             -1.587         0.960          3.513          0              90             0
  36  ShowerHead         -1.618         1.251          0.558          0              180            0
  37  Sink               -1.325         0.960          3.512          0              90             0
  38  SinkBasin          -1.317         0.998          3.513          0              90             0
  39  Faucet             -1.587         0.960          2.569          0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around walk straight then turn right and face the left side of the counter | STEP 2: Pick up the candle from the counter  | STEP 3: Turn around walk straight then turn back around and face the front of the counter | STEP 4: Open the bottom right door and place the candle inside, then close the door | STEP 5: Turn to the left then go straight to the left side of the counter again | STEP 6: Pick up the candle from the counter  | STEP 7: Turn around walk straight then turn back around and face the front of the counter | STEP 8: Open the bottom right door and place the candle inside, then close the door | END