Task: Move a candle from a counter top to a drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.902          2.75           0              90             0
   1  Cloth              -2.217         0.586          0.484          0              0              0              28
   2  Cloth              -1.083         0.181          0.48           0              180            0              37
   3  SoapBar            0.722          0.821          2.004          349.201        270            0              36
   4  SoapBar            0.645          0.254          2.728          0              0              0              26
   5  Candle             -2.524         1.044          1.559          0              90             0              41
   6  Candle             0.884          0.740          2.568          0              0              0              25
   7  SoapBottle         0.658          0.742          1.369          0              0              0              25
   8  SoapBottle         0.432          0.742          2.409          0              0              0              25
   9  HandTowel          1.033          1.671          3.127          0              90             0              38
  10  Towel              0.931          1.193          0.495          0              270            0              33
  11  SoapBar            0.562          0.490          2.215          0              0              0              30
  12  ToiletPaper        0.604          0.251          2.523          0              0              0              26
  13  SoapBottle         0.762          0.119          3.04           0              0              0              40
  14  ToiletPaper        -2.554         1.043          1.691          0              90             0              41
  15  ScrubBrush         -2.557         0.001          2.200          0              0              0
  16  Plunger            -2.568         0.000          1.992          0              0              0
  17  Cloth              -1.279         0.181          0.527          0              0              0              37
  18  Candle             -2.337         0.585          0.718          0              0              0              28
  19  SprayBottle        -2.646         1.047          1.756          0              90             0              41
  20  Window             -2.808         0.962          0.514          0              0              0
  21  Bathtub            -1.062         0.300          0.427          0              0              0
  22  Drawer             0.409          0.551          1.486          0              0              0
  23  Mirror             0.986          1.676          1.896          0              0              0
  24  ShowerDoor         -2.671         1.001          2.797          0              0              0
  25  CounterTop         0.732          0.697          1.955          0              0              0
  26  Drawer             0.409          0.314          2.420          0              0              0
  27  ShowerGlass        -1.713         1.276          3.298          0              0              0
  28  CounterTop         -0.298         0.157          0.531          0              0              0
  29  Sink               0.812          0.703          1.920          0              270            0
  30  Drawer             0.409          0.551          2.420          0              0              0
  31  Window             -0.957         1.563          -0.059         0              0              0
  32  Drawer             0.409          0.314          1.486          0              0              0
  33  TowelHolder        1.038          1.179          0.495          0              270            0
  34  TowelHolder        0.474          1.168          0.027          0              0              0
  35  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  36  SinkBasin          0.720          0.812          1.896          349.201        270            0
  37  BathtubBasin       -0.721         0.171          0.479          0              0              0
  38  HandTowelHolder    1.071          1.773          3.127          0              180            0
  39  LightSwitch        0.220          1.416          3.998          0              180            0
  40  GarbageCan         0.713          -0.028         3.110          0              0              0
  41  Toilet             -2.232         0.001          1.628          0              180            0
  42  ShowerHead         -2.619         1.819          3.361          0              270            0
  43  Faucet             1.047          1.036          1.921          0              0              0
  44  Faucet             0.318          0.631          0.479          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk forward to the candle on the counter by the sink. | STEP 2: Pick up the candle from the counter. | STEP 3: Move slightly backwards away from the counter top. | STEP 4: Put the candle in the top drawer under the bottle of soap, then close the drawer. | END