Task: To place two candles in the left 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              -1.25          0.903          4.75           0              180            0
   1  Candle             0.638          1.056          4.670          0              270            0              30
   2  Candle             0.668          1.056          4.473          0              270            0              30
   3  SoapBottle         -0.636         0.707          1.099          0              0              0              18
   4  Towel              -2.393         1.478          0.580          0              90             0              24
   5  Candle             0.760          1.056          4.342          0              270            0              30
   6  Cloth              0.379          0.097          2.545          0              0              0              23
   7  HandTowel          0.397          1.656          2.039          0              180            0              28
   8  Plunger            0.480          0.002          4.793          0              0              0
   9  SoapBar            0.699          1.047          4.670          0              270            0              30
  10  ToiletPaper        0.232          0.094          3.655          0              0              0              17
  11  ToiletPaper        0.760          1.044          4.277          0              270            0              30
  12  SoapBottle         0.298          1.058          4.116          0              0              0              21
  13  SprayBottle        0.112          1.055          2.108          0              0              0              21
  14  ScrubBrush         0.688          0.002          4.867          0              0              0
  15  Sink               0.426          1.037          2.947          0              270            0
  16  Window             -2.548         1.673          2.405          0              0              0
  17  Cabinet            0.068          0.366          3.772          0              0              0
  18  Bathtub            -1.042         0.155          0.558          0              0              0
  19  SinkBasin          0.404          0.926          2.926          0              270            0
  20  Mirror             0.858          1.863          2.972          0              0              0
  21  CounterTop         0.487          1.015          3.090          0              0              0
  22  Faucet             -0.207         0.687          0.546          0              0              0
  23  Cabinet            0.074          0.379          2.045          0              0              0
  24  TowelHolder        -2.5           1.463          0.579          0              90             0
  25  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  26  LightSwitch        -1.121         1.333          5.000          0              180            0
  27  BathtubBasin       -1.062         0.153          0.556          0              0              0
  28  HandTowelHolder    0.398          1.758          2.000          0              270            0
  29  GarbageCan         -0.229         0.001          1.445          0              270            0
  30  Toilet             0.376          0.002          4.470          0              0              0
  31  Faucet             0.661          1.043          3.371          0              270            0
  32  Faucet             0.661          1.043          2.520          0              270            0
  33  NorthWall
  34  EastWall
  35  SouthWall
  36  WestWall

Plan:
STEP 1: Turn left and step forward to face the toilet. | STEP 2: Pick up the candle on the right of the back of the sink. | STEP 3: Take a step to the right to face the cabinet below the left side of the sink. | STEP 4: Place the candle in the cabinet on the left. | STEP 5: Take a step to the left to face the back of the toilet. | STEP 6: Pick up the candle on the right of the back of the sink. | STEP 7: Take a step to the right to face the cabinet below the left side of the sink. | STEP 8: Place the candle in the cabinet next to the first candle. | END