Task: Place a candle on the shelf of a cart.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.901          3.5            0              270            0
   1  Cloth              -0.142         0.053          1.345          0              0              0              24
   2  Cloth              -0.142         0.053          0.423          0              0              0              24
   3  SoapBar            -3.387         1.041          1.801          0              0              0              41
   4  DishSponge         -0.311         0.054          0.423          0              0              0              24
   5  SoapBottle         -0.773         0.633          1.839          0              0              0              27
   6  SoapBottle         0.355          1.049          3.297          0              270            0              39
   7  Towel              -2.05          1.059          -0.183         0              0              0              29
   8  Towel              -1.304         1.059          -0.183         0              0              0              30
   9  HandTowel          -3.420         1.356          0.816          0              270            0              38
  10  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  11  SoapBar            0.324          1.046          3.034          0              270            0              39
  12  ToiletPaper        -0.771         0.039          3.832          0              0              0              36
  13  SoapBottle         0.447          0.633          1.763          0              317.956        0              27
  14  ToiletPaper        -0.482         0.784          2.361          0              0              270            31
  15  Cloth              -2.387         1.543          3.879          0              0              0              35
  16  PaperTowelRoll     -2.761         1.649          3.940          0              0              0              35
  17  Candle             0.477          1.048          3.034          0              270            0              39
  18  SprayBottle        -3.319         0.234          0.312          0              270            0              43
  19  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  20  DishSponge         -0.914         0.044          3.832          0              0              0              36
  21  Faucet             -0.141         0.524          -0.211         0              0              0
  22  Window             -1.507         1.322          -0.364         0              0              0
  23  Faucet             -3.401         1.017          1.531          0              90             0
  24  BathtubBasin       -0.155         0.042          0.884          0              0              0
  25  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  26  ShowerHead         -0.126         1.447          2.047          0              270            0
  27  Bathtub            -0.205         0.359          0.924          0              0              0
  28  Mirror             -3.447         1.575          1.516          0              0              0
  29  TowelHolder        -2.049         1.045          -0.290         0              0              0
  30  TowelHolder        -1.304         1.045          -0.290         0              0              0
  31  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  32  Shelf              -2.587         0.778          3.909          0              0              0
  33  Shelf              -2.587         1.287          3.941          0              0              0
  34  Shelf              -2.587         1.032          3.941          0              0              0
  35  Shelf              -2.587         1.534          3.909          0              0              0
  36  GarbageCan         0.047          -0.002         3.878          0              0              0
  37  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  38  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  39  Toilet             0.063          0.002          3.096          0              0              0
  40  LightSwitch        -3.459         1.437          2.496          0              90             0
  41  Sink               -3.115         -0.013         1.531          0              90             0
  42  SinkBasin          -3.081         0.935          1.537          0              90             0
  43  SideTable          -3.171         0.002          0.170          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk to the toilet.  | STEP 2: Pick up the candle on the toilet tank. | STEP 3: Turn around and walk ahead, veering left to the metal cart in corner of the room. | STEP 4: Place the candle on the top shelf of the cart. | END