Task: put two candles inside bathroom cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.0           0.900          4.75           0              0              0
   1  TissueBox          -3.713         0.541          1.109          0              90             0              42
   2  Cloth              -3.712         0.541          0.557          0              90             0              42
   3  SoapBar            -0.163         1.044          3.026          0              270            0              46
   4  SoapBar            -0.384         0.994          4.860          0              180            0              48
   5  Candle             -2.783         0.685          2.082          0              348.434        0              27
   6  Candle             -0.285         1.053          3.223          0              270            0              46
   7  SprayBottle        -1.138         0.964          4.800          0              0              0              32
   8  SprayBottle        -1.379         0.040          5.006          0              0              0              36
   9  SoapBottle         -0.344         0.044          5.006          0              0              0              26
  10  SoapBottle         -1.696         0.042          5.006          0              0              0              34
  11  Towel              -0.181         1.419          2.425          0              270            0              40
  12  HandTowel          -0.112         1.467          4.811          0              90             0              44
  13  Candle             -1.008         0.972          5.065          0              0              0              32
  14  SoapBottle         -3.770         0.546          0.925          0              90             0              42
  15  HandTowel          -2.093         1.442          5.107          0              0              0              43
  16  Towel              -1.719         1.228          1.846          0              0              0              39
  17  SoapBar            -1.696         0.037          4.887          0              0              0              34
  18  ToiletPaper        -0.188         1.036          3.374          0              0              0              46
  19  TissueBox          -3.770         0.541          1.293          0              90             0              42
  20  Cloth              -3.363         0.185          3.597          0              0              0              25
  21  ToiletPaper        -3.072         0.673          3.720          0              348.434        0              27
  22  SprayBottle        -0.224         1.045          3.289          0              270            0              46
  23  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  24  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  25  BathtubBasin       -3.404         0.166          2.904          0              0              0
  26  Cabinet            -0.124         0.364          4.634          0              0              0
  27  Bathtub            -2.896         0.667          2.860          0              0              0
  28  Faucet             -3.475         0.711          3.811          0              0              0
  29  ShowerGlass        0.0            0.0            0.0            0              0              0
  30  ShowerDoor         -0.282         1.228          1.730          0              0              0
  31  Faucet             -1.524         1.047          5.096          0              180            0
  32  CounterTop         -1.023         0.954          4.884          0              0              0
  33  Mirror             -0.975         1.577          5.145          0              0              0
  34  Cabinet            -1.962         0.364          4.634          0              0              0
  35  Cabinet            -1.027         0.364          4.634          0              0              0
  36  Cabinet            -1.059         0.364          4.634          0              0              0
  37  Window             -1.993         1.888          0.144          0              0              0
  38  LightSwitch        -2.496         1.366          5.146          0              180            0
  39  TowelHolder        -1.720         1.213          1.740          0              0              0
  40  TowelHolder        -0.074         1.404          2.424          0              270            0
  41  GarbageCan         -2.346         0.002          4.878          0              180            0
  42  Shelf              -3.713         0.531          0.951          0              90             0
  43  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  44  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  45  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  46  Toilet             -0.517         -0.000         3.220          0              0              0
  47  ShowerHead         -0.182         1.256          0.875          0              0              0
  48  SinkBasin          -0.569         0.986          4.886          0              180            0
  49  Sink               -0.579         0.926          4.874          0              180            0
  50  Sink               -1.524         0.926          4.874          0              180            0
  51  SinkBasin          -1.514         0.986          4.886          0              180            0
  52  Faucet             -0.583         1.047          5.096          0              180            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: walk to face counter between sinks | STEP 2: pick up candle stick from counter | STEP 3: turn right to face cabinet below sink on right | STEP 4: put candle inside bottom right cabinet | STEP 5: turn around to face toilet | STEP 6: pick up candle stick from toilet tank | STEP 7: walk to face sink cabinets | STEP 8: put candle inside bottom right cabinet | END