Task: put candle's into the cabinet below the sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.909          1.5            0              0              0
   1  Cloth              -2.508         0.111          0.544          0              0              0              40
   2  Cloth              -2.291         0.059          3.088          0              0              0              33
   3  SprayBottle        -2.389         1.105          3.292          0              0              0              27
   4  SprayBottle        -2.812         0.599          1.509          0              0              0              41
   5  Candle             -0.560         1.069          0.424          0              0              0              46
   6  Candle             -0.625         1.069          0.302          0              0              0              46
   7  Candle             -1.551         1.103          3.060          0              0              0              27
   8  DishSponge         -1.648         0.056          3.021          0              0              0              29
   9  SoapBottle         -3.017         0.600          1.384          0              0              0              41
  10  HandTowel          -0.242         1.76           3.427          0              0              0              44
  11  Plunger            -0.219         0.026          0.490          0              0              0
  12  SoapBar            -1.551         1.104          3.214          0              0              0              27
  13  ToiletPaper        -2.389         1.101          3.214          0              0              0              27
  14  SoapBottle         -0.587         0.056          3.291          0              0              0              31
  15  ToiletPaper        -3.120         0.595          1.426          0              0              0              41
  16  Towel              0.402          1.389          3.359          0              0              0              39
  17  PaperTowelRoll     -2.130         0.705          1.184          0              0              0              30
  18  ScrubBrush         -0.351         0.026          0.353          0              0              0
  19  Cloth              -2.073         0.111          0.544          0              0              0              40
  20  Candle             -2.364         1.103          3.060          0              0              0              27
  21  DishSponge         -0.386         1.106          2.983          0              0              0              27
  22  SprayBottle        -0.386         1.105          3.369          0              0              0              27
  23  Window             -3.447         1.593          0.648          0              0              0
  24  Mirror             -1.386         1.595          3.464          0              0              0
  25  SinkBasin          -0.837         0.960          3.091          0              180            0
  26  ShowerDoor         -2.477         1.774          2.386          0              0              0
  27  CounterTop         -1.358         1.094          3.151          0              0              0
  28  Sink               -0.846         0.952          3.144          0              180            0
  29  Cabinet            -1.399         0.425          2.867          0              0              0
  30  Bathtub            -2.234         0.288          0.722          0              0              0
  31  Cabinet            -0.337         0.425          2.867          0              0              0
  32  Cabinet            -1.362         0.425          2.867          0              0              0
  33  Cabinet            -2.423         0.425          2.867          0              0              0
  34  ShowerGlass        -2.895         1.423          2.342          0              0              0
  35  Faucet             -0.853         1.094          3.367          0              180            0
  36  ShowerHead         -2.949         2.154          3.427          0              0              0
  37  Window             -2.190         1.550          0.086          0              0              0
  38  TowelHolder        0.967          1.343          2.855          0              270            0
  39  TowelHolder        0.402          1.375          3.466          0              180            0
  40  BathtubBasin       -2.322         0.096          0.634          0              0              0
  41  Shelf              -2.930         0.589          1.425          0              0              0
  42  GarbageCan         -0.061         -0.001         3.131          0              270            0
  43  LightSwitch        0.968          1.432          1.128          0              270            0
  44  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  45  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  46  Toilet             -0.694         0.026          0.656          0              90             0
  47  Faucet             -1.944         1.094          3.367          0              180            0
  48  Sink               -1.934         0.952          3.144          0              180            0
  49  SinkBasin          -1.926         0.960          3.091          0              180            0
  50  Faucet             -1.342         0.638          0.629          0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: walk straight towards the sink | STEP 2: pick up the candle off of the sink counter | STEP 3: turn around and walk straight then turn left then turn left again and look down | STEP 4: open the cabinet door and put the candle inside and close the door | STEP 5: turn left and walk straight then turn right and walk straight towards the sink | STEP 6: pick up the candle on the sink counter | STEP 7: turn around and walk straight then turn left and walk straight then turn left towards the sink cabinets  | STEP 8: open the cabinet door and put the candle next to the other candle and close the door | END