Task: Put the candle 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              -2.0           0.901          -0.5           0              180            0
   1  Cloth              -2.764         0.066          -2.552         0              0              0              23
   2  Cloth              -2.532         0.806          -2.525         0              0              0              26
   3  SoapBar            -2.605         0.872          -3.128         0              90             0              32
   4  SoapBar            -2.700         0.872          -3.007         0              90             0              32
   5  SprayBottle        -2.764         0.067          -3.506         0              0              0              24
   6  SoapBottle         -2.620         0.808          -3.765         0              0              0              26
   7  SoapBottle         -2.532         0.808          -3.591         0              0              0              26
   8  Candle             -0.221         1.054          -3.245         0              270            0              35
   9  Cloth              -2.848         0.797          -2.452         0              104.999        0              26
  10  HandTowel          -2.962         1.584          -2.569         0              270            0              30
  11  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  12  SoapBar            -2.708         0.806          -2.459         0              0              0              26
  13  ToiletPaper        -0.365         0.054          -3.86          0              0              0              33
  14  ToiletPaper        -0.093         0.842          -2.618         0              270            270            28
  15  Towel              -1.291         1.386          -0.63          0              270            0              27
  16  SoapBottle         -0.129         1.047          -2.983         0              270            0              35
  17  SprayBottle        -2.764         0.067          -2.964         0              0              0              19
  18  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  19  Cabinet            -2.293         0.324          -3.254         0              0              0
  20  Mirror             -3.0           1.659          -3.069         0              0              0
  21  Sink               -2.661         0.785          -3.069         0              90             0
  22  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  23  Cabinet            -2.299         0.345          -2.250         0              0              0
  24  Cabinet            -2.293         0.324          -3.814         0              0              0
  25  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  26  CounterTop         -2.632         0.843          -3.040         0              0              0
  27  TowelHolder        -1.184         1.371          -0.629         0              270            0
  28  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  29  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  30  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  31  Window             -0.567         1.706          -4.002         90             0              0
  32  SinkBasin          -2.669         0.863          -3.063         0              90             0
  33  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  34  LightSwitch        -1.945         1.503          0.000          0              180            0
  35  Toilet             -0.452         0.000          -3.052         0              0              0
  36  Faucet             -3.0           1.167          -3.073         0              180            0
  37  ShowerHead         -0.614         1.934          -0.013         0              0              0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: Walk forward then turn left to face the toilet | STEP 2: Pick up the candle from the top of the toilet | STEP 3: Turn around and walk up to the bathroom counter | STEP 4: Open the cabinet directly under the sink and put the candle in it | END