Task: Move the cleaner from the toilet to the cabinet under the sinks

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          0.900          1.5            0              90             0
   1  Cloth              -1.411         0.074          0.341          0              90             0              22
   2  Cloth              -1.158         0.074          0.405          0              90             0              22
   3  SoapBar            -1.952         1.044          1.943          0              90             0              39
   4  Candle             0.422          0.617          3.792          0              0              0              44
   5  SprayBottle        0.499          1.160          3.732          0              0              0              50
   6  SprayBottle        0.401          1.160          3.797          0              0              0              41
   7  SoapBottle         -1.734         0.015          2.193          0              0              0              23
   8  ToiletPaper        -1.831         0.584          2.390          0              180            90             36
   9  Towel              -0.07          1.284          0.106          0              0              0              31
  10  HandTowel          -1.731         1.333          3.961          0              0              0              33
  11  SoapBar            -1.647         0.770          3.073          0              0              0              21
  12  ToiletPaper        -0.457         0.443          0.200          0              0              0              20
  13  ToiletPaper        -1.700         0.064          2.891          0              0              0              29
  14  Cloth              -1.823         0.068          3.575          0              0              0              26
  15  SprayBottle        -1.799         1.045          1.943          0              90             0              39
  16  Candle             -1.890         1.046          1.878          0              90             0              39
  17  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  18  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  19  SoapBottle         -1.827         0.069          2.565          0              0              0              23
  20  Bathtub            -1.414         -0.002         0.563          0              0              0
  21  CounterTop         -1.799         0.746          3.122          0              0              0
  22  BathtubBasin       -1.613         0.052          0.540          0              0              0
  23  Cabinet            -1.613         0.309          2.493          0              0              0
  24  ShowerDoor         0.527          1.037          2.115          0              0              0
  25  Mirror             -1.993         1.424          3.107          0              0              0
  26  Cabinet            -1.613         0.309          3.754          0              0              0
  27  Faucet             -1.873         0.461          0.641          0              0              0
  28  Sink               -1.834         0.685          2.777          0              90             0
  29  Cabinet            -1.613         0.309          3.105          0              0              0
  30  Cabinet            -1.613         0.309          3.140          0              0              0
  31  TowelHolder        -0.070         1.269          0.0            0              0              0
  32  GarbageCan         0.932          -0.029         3.761          0              0              0
  33  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  34  Window             -1.039         1.393          0.018          90             0              0
  35  Window             -1.986         1.392          0.706          90             90             0
  36  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  37  SinkBasin          -1.795         0.694          2.781          0              90             0
  38  LightSwitch        1.250          1.330          3.621          0              270            0
  39  Toilet             -1.567         -0.000         1.815          0              180            0
  40  Drawer             0.204          0.940          3.807          0              180            0
  41  Dresser            0.204          0.000          3.832          0              180            0
  42  Drawer             0.204          0.160          3.807          0              180            0
  43  Drawer             0.204          0.420          3.807          0              180            0
  44  Drawer             0.204          0.680          3.807          0              180            0
  45  SinkBasin          -1.795         0.694          3.476          0              90             0
  46  Sink               -1.833         0.685          3.472          0              90             0
  47  Faucet             -1.988         0.947          3.472          0              180            0
  48  ShowerHead         0.972          1.222          2.015          0              270            0
  49  Faucet             -1.988         0.947          2.776          0              180            0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around to the toilet | STEP 2: Grab the green cleaner on the toilet | STEP 3: Walk to the right a little to the vanity | STEP 4: Open the second from the right door of the cabinet under the sinks, put the cleaner in, close the cabinet | END