Task: Put two candles in the cupboard

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           0.902          2.75           0              90             0
   1  Cloth              -2.719         1.664          3.365          0              0              0              37
   2  Cloth              -2.712         0.745          3.312          0              0              0              36
   3  Candle             -2.900         0.937          1.886          0              0              0              40
   4  Candle             -2.841         1.086          0.652          0              90             0              50
   5  Candle             -2.701         1.214          1.550          0              270            0              41
   6  SoapBar            -2.842         1.663          3.111          0              0              0              34
   7  SprayBottle        -2.338         1.206          1.490          0              270            0              41
   8  DishSponge         -2.793         0.090          2.228          0              0              0              29
   9  DishSponge         -2.540         1.665          3.327          0              0              0              37
  10  SoapBottle         -2.674         0.903          3.364          0              0              0              32
  11  SoapBottle         -2.672         0.093          3.442          0              0              0              28
  12  Towel              -0.106         1.510          1.943          0              270            0              42
  13  Candle             -2.752         0.937          2.776          0              0              0              40
  14  SoapBottle         -2.732         0.092          2.567          0              0              0              29
  15  HandTowel          -2.698         1.521          2.867          0              0              0              43
  16  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  17  SoapBar            -0.379         0.194          1.333          0              0              0              47
  18  ToiletPaper        -2.328         0.791          0.079          0              0              270            45
  19  Cloth              -2.609         0.089          2.276          0              0              0              29
  20  ToiletPaper        -2.841         1.074          0.455          0              90             0              50
  21  SprayBottle        -0.230         0.057          0.274          0              270            0              46
  22  PaperTowelRoll     -0.206         0.157          0.187          0              270            0              46
  23  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  24  DishSponge         -2.767         0.747          3.022          0              0              0              36
  25  Cabinet            -2.410         0.371          2.862          0              0              0
  26  Mirror             -2.973         1.613          2.265          0              0              0
  27  Bathtub            -0.435         0.182          1.575          0              0              0
  28  Cabinet            -2.410         0.371          3.570          0              0              0
  29  Cabinet            -2.410         0.371          2.040          0              0              0
  30  Cabinet            -2.410         1.261          2.913          0              0              0
  31  Faucet             -0.769         0.416          1.0            0              9.958          0
  32  Cabinet            -2.410         1.261          3.570          0              0              0
  33  Sink               -2.723         0.862          2.231          0              90             0
  34  Cabinet            -2.410         2.022          2.913          0              0              0
  35  Cabinet            -2.410         0.371          1.585          0              0              0
  36  Drawer             -2.638         0.767          3.239          0              0              0
  37  Cabinet            -2.410         2.022          3.570          0              0              0
  38  Faucet             -2.928         0.978          2.231          0              90             0
  39  Cabinet            -2.410         0.371          2.913          0              0              0
  40  CounterTop         -2.688         0.966          2.260          0              0              0
  41  CounterTop         -2.611         1.243          1.455          0              270            0
  42  TowelHolder        0.0            1.496          1.942          0              270            0
  43  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  44  Window             -2.256         1.656          -0.021         90             0              0
  45  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  46  GarbageCan         -0.403         -0.027         0.241          0              0              0
  47  BathtubBasin       -0.435         0.185          1.544          0              0              0
  48  SinkBasin          -2.736         0.929          2.241          0              90             0
  49  LightSwitch        -1.675         1.442          3.610          0              180            0
  50  Toilet             -2.579         0.032          0.656          0              180            0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around and go to the counter | STEP 2: Pick up the candle from the counter | STEP 3: Turn around, go forward, turn right, go forward, turn right at the end of the counter | STEP 4: Put the candle into the second left cabinet | STEP 5: Turn left, go forward a bit, turn right | STEP 6: Pick up the candle on the wall | STEP 7: Turn right, go forward a bit, turn left | STEP 8: Put the candle into the second left cabinet | END