Task: Put two candles in the cabinet under 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           0.903          2.75           0              270            0
   1  Cloth              0.306          0.097          2.255          0              0              0              27
   2  Candle             0.803          1.063          3.472          0              0              0              25
   3  Candle             0.578          1.063          3.781          0              0              0              25
   4  Candle             0.392          1.063          3.848          0              0              0              25
   5  SprayBottle        0.432          1.055          2.139          0              0              0              25
   6  SprayBottle        -0.167         0.153          1.382          0              90             0              33
   7  SoapBottle         0.112          1.058          2.108          0              0              0              25
   8  Towel              -2.393         1.478          0.580          0              90             0              28
   9  Candle             -0.093         0.713          0.426          0              0              0              22
  10  Cloth              -0.680         0.164          0.465          0              0              0              31
  11  HandTowel          0.397          1.656          2.039          0              180            0              32
  12  Plunger            0.480          0.002          4.793          0              0              0
  13  SoapBar            0.672          1.054          3.848          0              0              0              25
  14  ToiletPaper        -0.047         0.971          4.911          0              180            90             29
  15  ToiletPaper        0.594          0.094          3.167          0              0              0              21
  16  SoapBottle         -2.243         0.707          0.135          0              0              0              22
  17  SprayBottle        0.752          1.055          2.139          0              0              0              25
  18  ScrubBrush         0.688          0.002          4.867          0              0              0
  19  Sink               0.426          1.037          2.947          0              270            0
  20  Window             -2.548         1.673          2.405          0              0              0
  21  Cabinet            0.068          0.366          3.772          0              0              0
  22  Bathtub            -1.042         0.155          0.558          0              0              0
  23  SinkBasin          0.404          0.926          2.926          0              270            0
  24  Mirror             0.858          1.863          2.972          0              0              0
  25  CounterTop         0.487          1.015          3.090          0              0              0
  26  Faucet             -0.207         0.687          0.546          0              0              0
  27  Cabinet            0.074          0.379          2.045          0              0              0
  28  TowelHolder        -2.5           1.463          0.579          0              90             0
  29  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  30  LightSwitch        -1.121         1.333          5.000          0              180            0
  31  BathtubBasin       -1.062         0.153          0.556          0              0              0
  32  HandTowelHolder    0.398          1.758          2.000          0              270            0
  33  GarbageCan         -0.229         0.001          1.445          0              270            0
  34  Toilet             0.376          0.002          4.470          0              0              0
  35  Faucet             0.661          1.043          3.371          0              270            0
  36  Faucet             0.661          1.043          2.520          0              270            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn right to face the counter between the toilet and the sink | STEP 2: Pick up the candle in front of the bar of soap | STEP 3: Turn to the right and go to the sink near the bathtub | STEP 4: Open the far right cabinet door under the sink and put the candle in on the right side | STEP 5: Turn right toward the bathtub | STEP 6: Pick up the candle by the faucet | STEP 7: Turn right to face the sink on the right | STEP 8: Open the cabinet under the sink and place the candle to the left of the other candle | END