Task: put two candles in drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.902          3.0            0              180            0
   1  Cloth              -0.301         0.181          0.432          0              0              0              40
   2  Cloth              -0.692         0.181          0.527          0              0              0              40
   3  SoapBar            0.604          0.254          2.625          0              0              0              29
   4  SoapBar            0.419          0.741          2.007          0              0              0              28
   5  Candle             -2.616         1.044          1.625          0              90             0              44
   6  Candle             0.451          0.740          2.090          0              0              0              28
   7  Candle             -2.463         1.044          1.822          0              90             0              44
   8  SprayBottle        0.432          0.743          1.152          0              0              0              28
   9  SprayBottle        -2.616         1.047          1.756          0              90             0              44
  10  Towel              0.931          1.193          0.495          0              270            0              36
  11  ToiletPaper        -2.626         0.790          1.235          0              90             270            38
  12  HandTowel          1.033          1.671          3.127          0              90             0              41
  13  Towel              0.474          1.182          0.134          0              0              0              37
  14  SoapBar            -2.616         1.046          1.494          0              90             0              44
  15  ToiletPaper        0.824          0.110          3.04           0              0              0              43
  16  SoapBottle         0.419          0.742          2.173          0              0              0              28
  17  ToiletPaper        0.604          0.487          1.691          0              0              0              25
  18  ScrubBrush         -2.557         0.001          2.200          0              0              0
  19  Plunger            -2.568         0.000          1.992          0              0              0
  20  Cloth              0.632          0.838          1.903          349.201        270            0              25
  21  Candle             -2.576         0.585          0.484          0              0              0              31
  22  SprayBottle        0.549          0.587          0.601          0              0              0              31
  23  Window             -2.808         0.962          0.514          0              0              0
  24  Bathtub            -1.062         0.300          0.427          0              0              0
  25  Drawer             0.409          0.551          1.486          0              0              0
  26  Mirror             0.986          1.676          1.896          0              0              0
  27  ShowerDoor         -2.671         1.001          2.797          0              0              0
  28  CounterTop         0.732          0.697          1.955          0              0              0
  29  Drawer             0.409          0.314          2.420          0              0              0
  30  ShowerGlass        -1.713         1.276          3.298          0              0              0
  31  CounterTop         -0.298         0.157          0.531          0              0              0
  32  Sink               0.812          0.703          1.920          0              270            0
  33  Drawer             0.409          0.551          2.420          0              0              0
  34  Window             -0.957         1.563          -0.059         0              0              0
  35  Drawer             0.409          0.314          1.486          0              0              0
  36  TowelHolder        1.038          1.179          0.495          0              270            0
  37  TowelHolder        0.474          1.168          0.027          0              0              0
  38  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  39  SinkBasin          0.720          0.812          1.896          349.201        270            0
  40  BathtubBasin       -0.721         0.171          0.479          0              0              0
  41  HandTowelHolder    1.071          1.773          3.127          0              180            0
  42  LightSwitch        0.220          1.416          3.998          0              180            0
  43  GarbageCan         0.713          -0.028         3.110          0              0              0
  44  Toilet             -2.232         0.001          1.628          0              180            0
  45  ShowerHead         -2.619         1.819          3.361          0              270            0
  46  Faucet             1.047          1.036          1.921          0              0              0
  47  Faucet             0.318          0.631          0.479          0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: walk to face toilet | STEP 2: pick up candle from toilet tank | STEP 3: walk to face left side of sink | STEP 4: put candle in drawer below sink counter | STEP 5: walk slightly right to face sink  | STEP 6: pick up candle from sink edge | STEP 7: turn left to face left side of sink | STEP 8: put candle in drawer below sink counter | END