Task: place two candles into a drawer underneath the bathroom sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          3.0            0              90             0
   1  SoapBar            0.624          1.044          1.598          0              270            0              40
   2  Candle             0.455          0.821          3.294          0              0              0              28
   3  Candle             0.389          0.821          2.161          0              0              0              28
   4  Candle             0.502          1.046          1.533          0              270            0              40
   5  SprayBottle        0.455          0.820          2.106          0              0              0              28
   6  SprayBottle        0.588          0.820          2.161          0              0              0              28
   7  SoapBottle         0.455          0.827          3.184          0              0              0              28
   8  HandTowel          0.634          1.512          3.564          0              90             0              39
   9  SoapBottle         0.655          1.052          1.270          0              270            0              40
  10  HandTowel          0.634          1.512          1.892          0              90             0              38
  11  Towel              -0.442         1.375          1.282          0              0              0              33
  12  SoapBar            0.563          1.044          1.336          0              270            0              40
  13  ToiletPaper        0.361          0.504          2.174          0              0              0              24
  14  ToiletPaper        0.308          0.615          1.912          0              180            90             35
  15  Candle             0.685          1.046          1.401          0              270            0              40
  16  ScrubBrush         0.553          0.000          1.725          0              0              0
  17  Cloth              0.390          0.216          3.312          0              0              0              31
  18  Plunger            0.594          -0.000         1.898          0              0              0
  19  SprayBottle        0.594          1.046          1.467          0              270            0              40
  20  Drawer             0.443          0.624          3.310          0              0              0
  21  Drawer             0.443          0.323          2.194          0              0              0
  22  ShowerDoor         -0.923         1.032          1.155          0              0              0
  23  Sink               0.495          0.661          2.756          0              270            0
  24  Drawer             0.443          0.624          2.193          0              0              0
  25  Faucet             0.717          0.982          2.756          0              0              0
  26  Mirror             0.629          1.532          2.697          0              0              0
  27  ShowerGlass        -0.152         1.266          1.156          0              0              0
  28  CounterTop         0.458          0.789          2.759          0              0              0
  29  Drawer             0.443          0.323          2.566          0              0              0
  30  Drawer             0.443          0.323          2.937          0              0              0
  31  Drawer             0.443          0.323          3.310          0              0              0
  32  TowelHolder        0.716          1.361          0.583          0              270            0
  33  TowelHolder        -0.442         1.361          1.175          0              0              0
  34  LightSwitch        -1.749         1.429          3.325          0              90             0
  35  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  36  GarbageCan         0.412          -0.029         3.728          0              0              0
  37  SinkBasin          0.440          0.667          2.746          0              270            0
  38  HandTowelHolder    0.673          1.613          1.891          0              180            0
  39  HandTowelHolder    0.673          1.613          3.563          0              180            0
  40  Toilet             0.270          0.000          1.463          0              0              0
  41  ShowerHead         -1.705         1.894          0.587          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn right and walk over to the right side of the bathroom sink cabinet on your left | STEP 2: grab the candle off of the counter top there | STEP 3: turn around to back up a bit and face the bathroom sink cabinet again | STEP 4: place the candle inside of the bottom pullout drawer underneath the bathroom sink | STEP 5: turn right and move forwards just a tiny bit, and then turn left to face the toilet | STEP 6: grab a candle off of the top of the back side of the toilet there | STEP 7: turn left and move forwards a tiny bit and then turn right to face the right side of the cabinets again | STEP 8: place the candle in the same pullout drawer underneath the bathroom sink again | END