Task: Put two candles in the cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.899          -0.75          0              180            0
   1  SoapBar            -3.607         0.083          -0.872         0              0              0              25
   2  Candle             -1.761         1.085          -2.030         0              0              0              33
   3  Candle             -3.564         0.952          -1.476         0              0              0              26
   4  SprayBottle        -3.607         0.085          -1.233         0              0              0              19
   5  Towel              0.136          1.121          -2.080         0              0              0              27
   6  Candle             -3.278         0.952          -1.476         0              0              0              26
   7  Cloth              -2.002         1.034          -2.086         0              343.825        0              33
   8  HandTowel          -3.711         1.474          -0.410         0              270            0              30
   9  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  10  SoapBottle         -3.358         0.084          -1.099         0              0              0              19
  11  SoapBar            -3.618         0.116          -0.436         0              0              0              28
  12  ToiletPaper        -3.493         0.075          -1.635         0              0              0              21
  13  ToiletPaper        -2.305         0.755          -2.157         0              0              90             32
  14  SprayBottle        -3.483         0.085          -1.278         0              180            0              19
  15  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  16  Cabinet            -3.169         0.370          -2.188         0              0              0
  17  Window             -1.737         1.292          -2.286         0              0              0
  18  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  19  Cabinet            -3.169         0.370          -1.379         0              0              0
  20  Mirror             -3.730         1.481          -1.427         0              0              0
  21  Cabinet            -3.169         0.370          -1.398         0              0              0
  22  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  23  Sink               -3.391         0.841          -1.828         0              90             0
  24  FloorLamp          -3.539         1.020          -0.932         0              90             0
  25  Cabinet            -3.169         0.370          -0.592         0              0              0
  26  CounterTop         -3.426         0.883          -1.384         0              0              0
  27  TowelHolder        0.136          1.106          -2.187         0              0              0
  28  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  29  SinkBasin          -3.392         0.916          -1.820         0              90             0
  30  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  31  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  32  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  33  Toilet             -1.896         -0.001         -1.738         0              90             0
  34  LightSwitch        -2.052         1.292          1.000          0              180            0
  35  FloorLamp          -3.539         1.020          -1.830         0              90             0
  36  ShowerHead         0.232          1.026          0.375          0              315            0
  37  Sink               -3.391         0.841          -0.931         0              90             0
  38  SinkBasin          -3.392         0.916          -0.923         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Go forward, turn right in front of the counter | STEP 2: Pick up the candle on the counter | STEP 3: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 4: Put the candle in the second left cabinet | STEP 5: Turn right, go forward a bit, turn right | STEP 6: Pick up the candle on the counter | STEP 7: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 8: Put the candle in the second left cabinet | END