Task: Place two candles on the sink counter top

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.903          3.0            0              270            0
   1  SoapBar            0.638          1.047          4.473          0              270            0              33
   2  Candle             0.668          1.056          4.408          0              270            0              33
   3  SprayBottle        0.112          1.055          2.169          0              0              0              24
   4  SprayBottle        -0.144         0.153          1.315          0              90             0              32
   5  SoapBottle         0.392          1.058          4.116          0              0              0              24
   6  SoapBottle         0.699          1.051          4.342          0              180            0              33
   7  Towel              -2.393         1.478          0.580          0              90             0              27
   8  Candle             0.668          1.056          4.277          0              270            0              33
   9  Cloth              -0.858         0.164          0.556          0              0              0              30
  10  HandTowel          0.397          1.656          2.039          0              180            0              31
  11  Plunger            0.480          0.002          4.793          0              0              0
  12  SoapBar            -2.322         0.704          0.426          0              0              0              21
  13  ToiletPaper        -2.084         0.701          0.280          0              0              0              21
  14  ToiletPaper        0.298          1.051          3.781          0              0              0              24
  15  SoapBottle         0.232          0.101          3.363          0              0              0              20
  16  SprayBottle        0.752          1.055          2.231          0              0              0              24
  17  ScrubBrush         0.688          0.002          4.867          0              0              0
  18  Sink               0.426          1.037          2.947          0              270            0
  19  Window             -2.548         1.673          2.405          0              0              0
  20  Cabinet            0.068          0.366          3.772          0              0              0
  21  Bathtub            -1.042         0.155          0.558          0              0              0
  22  SinkBasin          0.404          0.926          2.926          0              270            0
  23  Mirror             0.858          1.863          2.972          0              0              0
  24  CounterTop         0.487          1.015          3.090          0              0              0
  25  Faucet             -0.207         0.687          0.546          0              0              0
  26  Cabinet            0.074          0.379          2.045          0              0              0
  27  TowelHolder        -2.5           1.463          0.579          0              90             0
  28  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  29  LightSwitch        -1.121         1.333          5.000          0              180            0
  30  BathtubBasin       -1.062         0.153          0.556          0              0              0
  31  HandTowelHolder    0.398          1.758          2.000          0              270            0
  32  GarbageCan         -0.229         0.001          1.445          0              270            0
  33  Toilet             0.376          0.002          4.470          0              0              0
  34  Faucet             0.661          1.043          3.371          0              270            0
  35  Faucet             0.661          1.043          2.520          0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: turn to the right and go forward a few steps and turn to the right and go to the counter | STEP 2: pick up the right candle from the toilet tank | STEP 3: turn to the right and take a step and turn to the left facing the sink counter | STEP 4: put the candle on the counter top in front of the sink | STEP 5: turn to the right twice and take a step and turn to the right and go to the wall and turn to the right facing the toilet | STEP 6: pick up the candle from the toilet tank | STEP 7: turn to the right and take a few steps and turn to the left and go to the sink counter | STEP 8: put the candle on the counter top behind the other candle | END