Task: clean up candle's and put them inside the table drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.902          0.0            0              0              0
   1  Cloth              -1.846         0.174          -0.683         0              90             0              26
   2  SprayBottle        -0.669         0.951          -0.722         0              90             0              40
   3  Candle             -1.665         0.702          -0.698         0              90             0              28
   4  SoapBar            -3.602         0.039          0.409          0              0              0              42
   5  DishSponge         -2.343         0.178          -0.538         0              90             0              25
   6  SoapBottle         -1.680         1.095          2.164          0              180            0              23
   7  SoapBottle         -3.284         0.615          1.647          0              0              0              33
   8  Towel              -3.66          1.567          -0.459         0              0              0              35
   9  Candle             -2.575         0.702          -0.812         0              90             0              28
  10  HandTowel          -1.275         1.683          2.244          0              0              0              38
  11  SoapBar            -1.348         0.442          -0.732         0              90             0              22
  12  ToiletPaper        -1.380         0.695          -0.751         0              0              0              28
  13  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  14  SprayBottle        -2.347         0.700          -0.755         0              90             0              28
  15  SoapBottle         -3.145         0.615          1.571          0              0              0              33
  16  TissueBox          -1.846         0.442          -0.683         0              90             0              29
  17  ToiletPaper        -1.437         0.700          -0.471         0              90             0              28
  18  PaperTowelRoll     -3.110         0.718          -0.405         0              0              0              33
  19  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  20  Cloth              -2.120         0.702          -0.642         0              90             0              28
  21  DishSponge         -3.861         0.040          0.965          0              0              0              33
  22  Drawer             -1.444         0.531          -0.620         0              90             0
  23  Sink               -1.919         0.441          2.032          0              180            0
  24  Drawer             -2.343         0.531          -0.620         0              90             0
  25  Drawer             -2.343         0.271          -0.620         0              90             0
  26  Drawer             -1.894         0.271          -0.620         0              90             0
  27  Drawer             -2.791         0.271          -0.620         0              90             0
  28  CounterTop         -2.799         0.001          -0.593         0              90             0
  29  Drawer             -1.894         0.531          -0.620         0              90             0
  30  Mirror             -1.909         1.748          2.280          0              0              0
  31  Drawer             -2.791         0.531          -0.620         0              90             0
  32  Drawer             -1.444         0.271          -0.620         0              90             0
  33  Bathtub            -3.706         0.342          0.636          0              0              0
  34  Faucet             -1.919         1.064          2.182          0              180            0
  35  TowelHolder        -3.660         1.552          -0.558         0              0              0
  36  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  37  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  38  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  39  LightSwitch        -0.558         1.282          2.281          0              180            0
  40  Toilet             -0.720         0.001          -0.310         0              0              0
  41  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  42  BathtubBasin       -3.788         0.028          0.595          0              0              0
  43  SinkBasin          -1.908         1.011          1.981          0              180            0
  44  ShowerHead         -3.740         1.858          1.827          0              0              0
  45  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn around and look down at the table | STEP 2: pick up the candle off of the table | STEP 3: turn around and walk straight then turn left and walk straight then turn left again and walk straight towards the table | STEP 4: open the drawer on the right side of the table and put the candle inside and close the drawer | STEP 5: turn right and walk straight then turn left and walk towards the table | STEP 6: pick up the candle at the back of the table | STEP 7: turn around and walk straight then turn right then right again and walk straight towards the table | STEP 8: open the drawer and put the candle inside and close the drawer | END