Task: stand two candles up on the counter between the sinks

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.900          2.5            0              270            0
   1  Cloth              -3.325         0.185          2.898          0              347.395        0              17
   2  Candle             -0.255         1.053          3.026          0              270            0              38
   3  SoapBottle         -0.244         0.044          5.006          0              0              0              18
   4  SoapBottle         -3.828         0.546          1.293          0              90             0              34
   5  Candle             -3.124         0.685          1.866          0              270            0              19
   6  SoapBottle         -3.597         0.546          0.741          0              90             0              34
   7  HandTowel          -2.093         1.442          5.107          0              0              0              35
   8  Towel              -0.181         1.419          2.425          0              270            0              32
   9  SoapBar            -3.597         0.541          0.925          0              90             0              34
  10  ToiletPaper        -2.769         0.673          1.887          0              270            0              19
  11  TissueBox          -1.051         0.964          4.734          0              0              0              24
  12  Cloth              -3.701         0.185          3.363          0              0              0              17
  13  ToiletPaper        -1.279         0.036          4.946          0              0              0              28
  14  SprayBottle        -0.255         1.045          3.289          0              270            0              38
  15  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  16  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  17  BathtubBasin       -3.404         0.166          2.904          0              0              0
  18  Cabinet            -0.124         0.364          4.634          0              0              0
  19  Bathtub            -2.896         0.667          2.860          0              0              0
  20  Faucet             -3.475         0.711          3.811          0              0              0
  21  ShowerGlass        0.0            0.0            0.0            0              0              0
  22  ShowerDoor         -0.282         1.228          1.730          0              0              0
  23  Faucet             -1.524         1.047          5.096          0              180            0
  24  CounterTop         -1.023         0.954          4.884          0              0              0
  25  Mirror             -0.975         1.577          5.145          0              0              0
  26  Cabinet            -1.962         0.364          4.634          0              0              0
  27  Cabinet            -1.027         0.364          4.634          0              0              0
  28  Cabinet            -1.059         0.364          4.634          0              0              0
  29  Window             -1.993         1.888          0.144          0              0              0
  30  LightSwitch        -2.496         1.366          5.146          0              180            0
  31  TowelHolder        -1.720         1.213          1.740          0              0              0
  32  TowelHolder        -0.074         1.404          2.424          0              270            0
  33  GarbageCan         -2.346         0.002          4.878          0              180            0
  34  Shelf              -3.713         0.531          0.951          0              90             0
  35  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  36  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  37  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  38  Toilet             -0.517         -0.000         3.220          0              0              0
  39  ShowerHead         -0.182         1.256          0.875          0              0              0
  40  SinkBasin          -0.569         0.986          4.886          0              180            0
  41  Sink               -0.579         0.926          4.874          0              180            0
  42  Sink               -1.524         0.926          4.874          0              180            0
  43  SinkBasin          -1.514         0.986          4.886          0              180            0
  44  Faucet             -0.583         1.047          5.096          0              180            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: go to the toilet | STEP 2: pick up the candle from the back of the toilet | STEP 3: take the candle to the sink | STEP 4: stand the candle up between the sinks in front of the tissue box | STEP 5: go to the left corner of the tub basin | STEP 6: pick up the candle from the tub  | STEP 7: take the candle to the sinks | STEP 8: stand the candle to the right of the first candle  | END