Task: place two candles in cabinet under sink

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          0.900          2.5            0              270            0
   1  Candle             -0.207         0.972          4.877          0              0              0              23
   2  Candle             -3.540         0.550          1.293          0              90             0              33
   3  Candle             -2.850         0.685          2.634          0              348.434        0              18
   4  Candle             -2.806         0.685          2.643          0              348.434        0              18
   5  SoapBottle         -3.712         0.546          0.373          0              90             0              33
   6  HandTowel          -2.093         1.442          5.107          0              0              0              34
   7  Towel              -1.719         1.228          1.846          0              0              0              30
   8  SoapBar            -0.237         0.963          4.671          0              0              0              23
   9  ToiletPaper        -0.153         1.126          3.705          0              270            270            36
  10  TissueBox          -3.770         0.541          0.557          0              90             0              33
  11  Cloth              -3.421         0.185          3.331          0              347.395        0              16
  12  ToiletPaper        -0.344         0.036          5.065          0              0              0              17
  13  SprayBottle        -3.655         0.542          0.925          0              90             0              33
  14  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  15  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  16  BathtubBasin       -3.404         0.166          2.904          0              0              0
  17  Cabinet            -0.124         0.364          4.634          0              0              0
  18  Bathtub            -2.896         0.667          2.860          0              0              0
  19  Faucet             -3.475         0.711          3.811          0              0              0
  20  ShowerGlass        0.0            0.0            0.0            0              0              0
  21  ShowerDoor         -0.282         1.228          1.730          0              0              0
  22  Faucet             -1.524         1.047          5.096          0              180            0
  23  CounterTop         -1.023         0.954          4.884          0              0              0
  24  Mirror             -0.975         1.577          5.145          0              0              0
  25  Cabinet            -1.962         0.364          4.634          0              0              0
  26  Cabinet            -1.027         0.364          4.634          0              0              0
  27  Cabinet            -1.059         0.364          4.634          0              0              0
  28  Window             -1.993         1.888          0.144          0              0              0
  29  LightSwitch        -2.496         1.366          5.146          0              180            0
  30  TowelHolder        -1.720         1.213          1.740          0              0              0
  31  TowelHolder        -0.074         1.404          2.424          0              270            0
  32  GarbageCan         -2.346         0.002          4.878          0              180            0
  33  Shelf              -3.713         0.531          0.951          0              90             0
  34  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  35  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  36  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  37  Toilet             -0.517         -0.000         3.220          0              0              0
  38  ShowerHead         -0.182         1.256          0.875          0              0              0
  39  SinkBasin          -0.569         0.986          4.886          0              180            0
  40  Sink               -0.579         0.926          4.874          0              180            0
  41  Sink               -1.524         0.926          4.874          0              180            0
  42  SinkBasin          -1.514         0.986          4.886          0              180            0
  43  Faucet             -0.583         1.047          5.096          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: go to edge of tub with yellow candles to the right | STEP 2: pick up yellow candle behind other candle on edge of tub | STEP 3: turn around, go to far sink on the left, look down to cabinet under sink | STEP 4: open right cabinet under sink, place candle in cabinet, close cabinet | STEP 5: go forward to sink | STEP 6: pick up yellow candle to the right of sink | STEP 7: look down to cabinet under sink | STEP 8: open right cabinet under sink, place candle to the right of candle in cabinet, close cabinet | END