Task: Put two candles in the bottom, right cupboard, underneath the sink closest to the wall.

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          2.75           0              180            0
   1  TissueBox          -1.561         0.069          2.857          0              0              0              22
   2  Cloth              -1.284         0.994          3.873          0              0              0              29
   3  Cloth              -1.501         0.068          3.743          0              0              0              30
   4  Candle             -1.613         0.994          2.863          0              0              0              29
   5  Candle             -1.547         0.994          2.148          0              0              0              29
   6  SoapBottle         -1.560         0.067          3.176          0              0              0              28
   7  SoapBottle         -1.379         0.067          2.240          0              0              0              24
   8  ToiletPaper        -1.560         0.064          2.290          0              0              0              24
   9  Towel              -0.200         1.174          1.286          0              0              0              31
  10  HandTowel          -1.275         1.6            3.961          0              0              0              33
  11  SoapBar            -1.294         1.018          3.509          0              90             0              42
  12  ToiletPaper        -1.219         0.991          2.178          0              0              0              29
  13  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  14  Candle             -1.547         0.994          3.812          0              0              0              29
  15  TissueBox          -1.307         0.984          3.185          0              0              0              29
  16  SoapBottle         0.313          0.046          3.838          0              0              0              32
  17  ToiletPaper        -1.382         0.065          3.743          0              0              0              30
  18  SprayBottle        -1.416         0.995          3.041          0              0              0              29
  19  Cloth              0.356          0.885          1.8            0              85.370         0              Floor|-01.72|
  20  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  21  Mirror             -1.703         1.661          3.509          0              0              0
  22  Cabinet            -1.187         0.394          3.030          0              0              0
  23  ShowerDoor         -1.631         1.014          1.170          0              0              0
  24  Cabinet            -1.187         0.394          2.127          0              0              0
  25  Sink               -1.326         0.960          2.567          0              90             0
  26  ShowerGlass        0.254          0.788          0.485          0              0              0
  27  Mirror             -1.703         1.661          2.480          0              0              0
  28  Cabinet            -1.187         0.394          3.063          0              0              0
  29  CounterTop         -1.348         0.972          2.945          0              0              0
  30  Cabinet            -1.187         0.394          3.966          0              0              0
  31  TowelHolder        -0.200         1.160          1.179          0              0              0
  32  GarbageCan         0.209          0.000          3.772          0              0              0
  33  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  34  Window             -0.726         1.667          -0.009         90             0              0
  35  Toilet             -0.039         0.090          1.733          0              270            0
  36  SinkBasin          -1.317         0.998          2.567          0              90             0
  37  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  38  LightSwitch        0.444          1.368          3.323          0              270            0
  39  Faucet             -1.587         0.960          3.513          0              90             0
  40  ShowerHead         -1.618         1.251          0.558          0              180            0
  41  Sink               -1.325         0.960          3.512          0              90             0
  42  SinkBasin          -1.317         0.998          3.513          0              90             0
  43  Faucet             -1.587         0.960          2.569          0              90             0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn to your right, towards the sink.  | STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle.  | STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall.  | STEP 4: Place the candle in the bottom, far right, cupboard, underneath the sink.  | STEP 5: Walk back to the sink closest to the right wall. | STEP 6: Pick up the candle holder, on the counter,  between the sink and the right wall.  | STEP 7: Step back, away from the sink again, but still facing it.  | STEP 8: Place the candle in the right, bottom cupboard, to the right of the one previously placed in there.  | END