Task: place two candles in drawer under green counter

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          3.25           0              90             0
   1  Cloth              -2.337         0.586          0.835          0              0              0              29
   2  Cloth              0.677          0.830          1.852          349.201        270            0              26
   3  Candle             -2.463         1.044          1.691          0              90             0              42
   4  Candle             0.416          0.585          0.835          0              0              0              29
   5  SprayBottle        -2.646         1.047          1.691          0              90             0              42
   6  SoapBottle         0.824          0.114          3.04           0              0              0              41
   7  SoapBottle         0.432          0.742          2.568          0              0              0              26
   8  Towel              0.474          1.182          0.134          0              0              0              35
   9  ToiletPaper        0.686          0.251          1.178          0              0              0              33
  10  HandTowel          1.033          1.671          3.127          0              90             0              39
  11  Towel              0.931          1.193          0.495          0              270            0              34
  12  SoapBar            0.645          0.490          1.691          0              0              0              23
  13  ToiletPaper        -2.585         1.043          1.428          0              90             0              42
  14  SoapBottle         0.682          0.587          0.367          0              0              0              29
  15  ToiletPaper        -2.493         1.043          1.822          0              90             0              42
  16  ScrubBrush         -2.557         0.001          2.200          0              0              0
  17  Plunger            -2.568         0.000          1.992          0              0              0
  18  Cloth              0.604          0.254          2.523          0              0              0              27
  19  Candle             -2.524         1.044          1.494          0              90             0              42
  20  SprayBottle        0.731          0.115          3.016          0              0              0              41
  21  Window             -2.808         0.962          0.514          0              0              0
  22  Bathtub            -1.062         0.300          0.427          0              0              0
  23  Drawer             0.409          0.551          1.486          0              0              0
  24  Mirror             0.986          1.676          1.896          0              0              0
  25  ShowerDoor         -2.671         1.001          2.797          0              0              0
  26  CounterTop         0.732          0.697          1.955          0              0              0
  27  Drawer             0.409          0.314          2.420          0              0              0
  28  ShowerGlass        -1.713         1.276          3.298          0              0              0
  29  CounterTop         -0.298         0.157          0.531          0              0              0
  30  Sink               0.812          0.703          1.920          0              270            0
  31  Drawer             0.409          0.551          2.420          0              0              0
  32  Window             -0.957         1.563          -0.059         0              0              0
  33  Drawer             0.409          0.314          1.486          0              0              0
  34  TowelHolder        1.038          1.179          0.495          0              270            0
  35  TowelHolder        0.474          1.168          0.027          0              0              0
  36  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  37  SinkBasin          0.720          0.812          1.896          349.201        270            0
  38  BathtubBasin       -0.721         0.171          0.479          0              0              0
  39  HandTowelHolder    1.071          1.773          3.127          0              180            0
  40  LightSwitch        0.220          1.416          3.998          0              180            0
  41  GarbageCan         0.713          -0.028         3.110          0              0              0
  42  Toilet             -2.232         0.001          1.628          0              180            0
  43  ShowerHead         -2.619         1.819          3.361          0              270            0
  44  Faucet             1.047          1.036          1.921          0              0              0
  45  Faucet             0.318          0.631          0.479          0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn right, go to gray counter with candle next to the bathtub | STEP 2: pick up candle from gray counter | STEP 3: go to right end of green counter | STEP 4: open drawer below green counter, place candle in back left corner of drawer, close drawer | STEP 5: turn around, go to toilet | STEP 6: pick up candle on the left of toilet  | STEP 7: turn around go to right end of green counter | STEP 8: open drawer below green counter, place candle to the right of candle in drawer, close drawer | END