Task: Put the 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              -2.25          0.901          1.25           0              0              0
   1  Cloth              -2.077         0.811          0.342          0              0              0              35
   2  Cloth              -2.962         0.811          0.217          0              0              0              35
   3  SoapBar            -3.512         0.191          1.839          0              270            0              49
   4  SoapBar            -3.268         0.544          0.907          0              0              0              27
   5  Candle             -3.315         0.544          0.841          0              0              0              27
   6  SprayBottle        -2.037         0.814          0.217          0              0              0              35
   7  SprayBottle        -0.476         0.813          1.539          0              0              0              38
   8  SoapBottle         -2.954         0.954          3.220          0              270            0              47
   9  HandTowel          -0.034         1.537          3.105          0              90             0              43
  10  HandTowel          -3.172         1.487          0.340          0              270            0              42
  11  ToiletPaper        -2.829         0.950          3.193          0              270            0              47
  12  HandTowel          -0.034         1.537          1.542          0              90             0              45
  13  Towel              -1.513         1.496          0.109          0              0              0              39
  14  Cloth              -3.653         0.190          1.273          0              270            0              49
  15  SoapBar            -0.201         0.518          2.547          0              0              0              28
  16  ToiletPaper        -1.792         0.014          0.165          0              0              0              41
  17  Plunger            -2.530         0.000          3.026          0              0              0
  18  Candle             -0.412         0.812          1.585          0              0              0              38
  19  SoapBottle         -2.962         0.813          0.404          0              0              0              35
  20  ToiletPaper        -0.363         0.215          1.671          0              0              0              25
  21  SprayBottle        -0.348         0.813          2.480          0              0              0              38
  22  ScrubBrush         -2.332         0.000          3.163          0              0              0
  23  Drawer             -0.325         0.319          2.155          0              0              0
  24  Mirror             0.0            1.473          1.917          0              270            0
  25  Drawer             -0.325         0.319          1.717          0              0              0
  26  Drawer             -0.325         0.319          2.592          0              0              0
  27  Bathtub            -3.589         0.107          1.521          0              0              0
  28  Drawer             -0.325         0.619          2.592          0              0              0
  29  Drawer             -2.249         0.319          0.280          0              0              0
  30  Drawer             -0.325         0.319          3.030          0              0              0
  31  Mirror             0.0            1.473          2.700          0              270            0
  32  Drawer             -0.325         0.619          3.030          0              0              0
  33  ShowerGlass        -0.494         1.490          0.528          0              0              0
  34  Sink               -2.539         0.661          0.252          0              0              0
  35  CounterTop         -2.540         0.805          0.280          0              0              0
  36  Drawer             -2.844         0.319          0.280          0              0              0
  37  ShowerDoor         -1.074         1.033          0.519          0              0              0
  38  CounterTop         -0.277         0.785          1.931          0              0              0
  39  TowelHolder        -1.513         1.481          0.002          0              0              0
  40  LightSwitch        -0.776         1.371          3.300          0              180            0
  41  GarbageCan         -1.754         0.001          0.227          0              0              0
  42  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  43  HandTowelHolder    0.004          1.639          3.105          0              180            0
  44  HandTowelHolder    0.004          1.639          2.309          0              180            0
  45  HandTowelHolder    0.004          1.639          1.542          0              180            0
  46  Window             -4.127         1.519          1.495          90             270            0
  47  Toilet             -2.842         0.000          2.755          0              180            0
  48  SinkBasin          -2.542         0.706          0.269          0              0              0
  49  BathtubBasin       -3.606         0.182          1.536          0              270            0
  50  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  51  Faucet             -2.540         0.794          0.111          0              0              0
  52  Faucet             -0.111         0.794          1.921          0              270            0
  53  ShowerHead         -3.612         1.776          2.299          0              0              0
  54  ShowerHead         -0.079         1.151          0.662          0              0              0
  55  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  56  Sink               -0.260         0.661          1.922          0              270            0
  57  SinkBasin          -0.277         0.706          1.920          0              270            0
  58  NorthWall
  59  SouthWall
  60  SouthWall

Plan:
STEP 1: Turn left then face the end of the tub | STEP 2: Pick up the candle on the tub beside the soap | STEP 3: Turn right then head to the cabinet below the sink | STEP 4: Open the cabinet and put in the candle then close the cabinet | STEP 5: Turn right then move to the right side counter of the sink | STEP 6: Pick up the candle on the sink counter | STEP 7: Turn left then head to cabinet | STEP 8: Open the cabinet and put in the candle then close the cabinet | END