Task: Put two candles on the edge of 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          2.25           0              180            0
   1  Cloth              -1.391         0.164          0.736          0              0              0              32
   2  SoapBar            0.729          1.047          4.408          0              270            0              35
   3  Candle             0.638          1.056          4.277          0              270            0              35
   4  Candle             0.638          1.056          4.539          0              270            0              35
   5  Candle             0.791          1.056          4.408          0              270            0              35
   6  SprayBottle        0.699          1.048          4.277          0              270            0              35
   7  SoapBottle         0.659          1.081          2.949          0              270            0              20
   8  SoapBottle         0.305          0.101          3.460          0              0              0              22
   9  Towel              -2.393         1.478          0.580          0              90             0              29
  10  Candle             0.160          0.106          3.167          0              0              0              22
  11  Cloth              -2.322         0.704          0.572          0              0              0              23
  12  HandTowel          0.397          1.656          2.039          0              180            0              33
  13  Plunger            0.480          0.002          4.793          0              0              0
  14  SoapBar            0.392          1.054          4.116          0              0              0              26
  15  ToiletPaper        -0.047         0.971          4.911          0              180            90             30
  16  ToiletPaper        0.749          1.045          4.083          0              0              0              26
  17  SoapBottle         0.485          1.058          3.781          0              0              0              26
  18  SprayBottle        0.379          0.098          2.158          0              0              0              28
  19  ScrubBrush         0.688          0.002          4.867          0              0              0
  20  Sink               0.426          1.037          2.947          0              270            0
  21  Window             -2.548         1.673          2.405          0              0              0
  22  Cabinet            0.068          0.366          3.772          0              0              0
  23  Bathtub            -1.042         0.155          0.558          0              0              0
  24  SinkBasin          0.404          0.926          2.926          0              270            0
  25  Mirror             0.858          1.863          2.972          0              0              0
  26  CounterTop         0.487          1.015          3.090          0              0              0
  27  Faucet             -0.207         0.687          0.546          0              0              0
  28  Cabinet            0.074          0.379          2.045          0              0              0
  29  TowelHolder        -2.5           1.463          0.579          0              90             0
  30  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  31  LightSwitch        -1.121         1.333          5.000          0              180            0
  32  BathtubBasin       -1.062         0.153          0.556          0              0              0
  33  HandTowelHolder    0.398          1.758          2.000          0              270            0
  34  GarbageCan         -0.229         0.001          1.445          0              270            0
  35  Toilet             0.376          0.002          4.470          0              0              0
  36  Faucet             0.661          1.043          3.371          0              270            0
  37  Faucet             0.661          1.043          2.520          0              270            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn around then walk straight turn right on the toilet | STEP 2: Pick up the candle in front of spray bottle on the tank | STEP 3: Turn right move slightly on the sink counter | STEP 4: Put the candle in front of the left side of the sink | STEP 5: Move slightly on your right facing down on the cabinet | STEP 6: Open the cabinet pick up the candle then close the cabinet | STEP 7: Turn left move slightly forward then turn right facing the counter | STEP 8: Put the candle at the back of the first candle | END