Task: place a candle inside 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              0.5            0.901          3.25           0              180            0
   1  Cloth              -1.694         0.039          3.360          0              0              0              20
   2  Candle             -1.858         0.953          1.821          0              180            0              29
   3  Candle             -1.938         0.953          2.071          0              180            0              29
   4  HandTowel          -1.670         1.496          3.962          0              0              0              27
   5  SoapBottle         -1.846         0.041          3.722          0              90             0              23
   6  Towel              0.833          1.160          2.357          0              0              0              24
   7  Cloth              -1.695         0.031          3.040          0              0              0              20
   8  SoapBar            -1.542         0.040          2.641          0              0              0              14
   9  ToiletPaper        -1.140         1.013          1.256          0              0              90             25
  10  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  11  SprayBottle        -1.745         0.037          2.870          0              0              0              15
  12  ToiletPaper        -1.476         0.042          1.372          0              0              0              26
  13  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  14  Cabinet            -1.479         0.348          2.362          0              0              0
  15  Cabinet            -1.483         0.372          3.152          0              0              0
  16  Sink               -1.746         0.884          3.553          0              90             0
  17  CounterTop         -1.758         0.669          3.164          0              0              0
  18  Faucet             -1.894         1.006          2.730          0              0              0
  19  Mirror             -1.943         1.532          3.443          0              0              0
  20  Cabinet            -1.479         0.348          3.170          0              0              0
  21  ShowerDoor         0.527          1.039          2.098          0              0              0
  22  Painting           -0.566         1.591          1.173          0              0              0
  23  Cabinet            -1.483         0.372          3.960          0              0              0
  24  TowelHolder        0.833          1.146          2.250          0              0              0
  25  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  26  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  27  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  28  LightSwitch        1.249          1.322          3.635          0              270            0
  29  Toilet             -1.447         0.000          1.961          0              90             0
  30  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  31  ShowerHead         0.871          1.097          2.009          0              270            0
  32  Faucet             -1.894         1.006          3.560          0              0              0
  33  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  34  Sink               -1.746         0.884          2.723          0              90             0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: turn and walk over to the toilet | STEP 2: grab the right side candle off the top of the toilet | STEP 3: back up a bit to face the bathroom cabinet | STEP 4: place the candle inside of the bathroom cabinet | END