Task: place two candles in lower left cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          2.75           0              180            0
   1  Cloth              -1.694         0.039          2.597          0              0              0              21
   2  SoapBar            -1.938         0.953          1.946          0              180            0              36
   3  SoapBar            -1.938         0.953          2.071          0              180            0              36
   4  Candle             -1.696         0.917          3.919          0              0              0              24
   5  Candle             -1.858         0.953          1.946          0              180            0              36
   6  Candle             -1.858         0.953          2.009          0              180            0              36
   7  SprayBottle        -1.885         0.950          1.821          0              180            0              36
   8  SprayBottle        -1.795         0.037          3.448          0              0              0              27
   9  ToiletPaper        -1.140         1.013          1.256          0              0              90             32
  10  Candle             -1.858         0.953          2.071          0              180            0              36
  11  HandTowel          -1.670         1.496          3.962          0              0              0              34
  12  SoapBottle         -1.912         0.953          1.759          0              180            0              36
  13  Towel              0.833          1.160          2.357          0              0              0              31
  14  Cloth              -1.694         0.039          3.722          0              0              0              30
  15  SoapBar            -1.831         0.953          1.884          0              180            0              36
  16  ToiletPaper        -1.519         0.915          3.933          0              0              0              24
  17  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  18  SprayBottle        -1.694         0.037          3.272          0              0              0              27
  19  ToiletPaper        -1.696         0.915          3.172          0              0              0              24
  20  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  21  Cabinet            -1.479         0.348          2.362          0              0              0
  22  Cabinet            -1.483         0.372          3.152          0              0              0
  23  Sink               -1.746         0.884          3.553          0              90             0
  24  CounterTop         -1.758         0.669          3.164          0              0              0
  25  Faucet             -1.894         1.006          2.730          0              0              0
  26  Mirror             -1.943         1.532          3.443          0              0              0
  27  Cabinet            -1.479         0.348          3.170          0              0              0
  28  ShowerDoor         0.527          1.039          2.098          0              0              0
  29  Painting           -0.566         1.591          1.173          0              0              0
  30  Cabinet            -1.483         0.372          3.960          0              0              0
  31  TowelHolder        0.833          1.146          2.250          0              0              0
  32  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  33  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  34  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  35  LightSwitch        1.249          1.322          3.635          0              270            0
  36  Toilet             -1.447         0.000          1.961          0              90             0
  37  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  38  ShowerHead         0.871          1.097          2.009          0              270            0
  39  Faucet             -1.894         1.006          3.560          0              0              0
  40  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  41  Sink               -1.746         0.884          2.723          0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn right, face toilet | STEP 2: pick up center candle from toilet | STEP 3: go to lower end cabinet to the right of toilet | STEP 4: open cabinet, place candle in cabinet, close cabinet | STEP 5: go to toilet to the left | STEP 6: pick up candle on the left | STEP 7: go to lower end cabinet to the right of toilet | STEP 8: open cabinet, place candle behind candle in cabinet, close cabinet | END