Task: Put two candles away in 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              -2.75          0.902          1.0            0              90             0
   1  Cloth              -2.887         0.176          -0.683         0              0              0              33
   2  Cloth              -2.347         0.702          -0.642         0              90             0              34
   3  TissueBox          -1.665         0.704          -0.698         0              90             0              34
   4  TissueBox          -2.120         0.704          -0.642         0              90             0              34
   5  SprayBottle        -2.803         0.700          -0.471         0              90             0              34
   6  SprayBottle        -0.919         0.951          -0.722         0              90             0              46
   7  Candle             -0.919         0.953          -0.829         0              90             0              46
   8  SoapBar            -2.120         0.703          -0.812         0              90             0              34
   9  SoapBar            -3.689         0.039          0.965          0              0              0              48
  10  DishSponge         -2.391         0.178          -0.538         0              90             0              31
  11  SoapBottle         -3.284         0.615          1.762          0              90             0              39
  12  SoapBottle         -3.176         0.615          0.410          0              0              0              39
  13  ToiletPaper        -0.544         0.951          -0.748         0              90             0              46
  14  Towel              -3.66          1.567          -0.459         0              0              0              41
  15  Candle             -0.794         0.953          -0.695         0              90             0              46
  16  HandTowel          -2.576         1.683          2.244          0              0              0              43
  17  SoapBar            -3.602         0.039          0.595          0              0              0              48
  18  ToiletPaper        -0.669         0.951          -0.748         0              90             0              46
  19  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  20  SprayBottle        -2.120         0.700          -0.755         0              90             0              34
  21  SoapBottle         -1.892         0.706          -0.528         0              90             0              34
  22  TissueBox          -2.575         0.704          -0.528         0              90             0              34
  23  ToiletPaper        -1.892         0.700          -0.698         0              90             0              34
  24  PaperTowelRoll     -1.437         0.809          -0.471         0              90             0              34
  25  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  26  Cloth              -1.348         0.440          -0.683         0              180            0              28
  27  DishSponge         -1.894         0.178          -0.683         0              90             0              32
  28  Drawer             -1.444         0.531          -0.620         0              90             0
  29  Sink               -1.919         0.441          2.032          0              180            0
  30  Drawer             -2.343         0.531          -0.620         0              90             0
  31  Drawer             -2.343         0.271          -0.620         0              90             0
  32  Drawer             -1.894         0.271          -0.620         0              90             0
  33  Drawer             -2.791         0.271          -0.620         0              90             0
  34  CounterTop         -2.799         0.001          -0.593         0              90             0
  35  Drawer             -1.894         0.531          -0.620         0              90             0
  36  Mirror             -1.909         1.748          2.280          0              0              0
  37  Drawer             -2.791         0.531          -0.620         0              90             0
  38  Drawer             -1.444         0.271          -0.620         0              90             0
  39  Bathtub            -3.706         0.342          0.636          0              0              0
  40  Faucet             -1.919         1.064          2.182          0              180            0
  41  TowelHolder        -3.660         1.552          -0.558         0              0              0
  42  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  43  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  44  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  45  LightSwitch        -0.558         1.282          2.281          0              180            0
  46  Toilet             -0.720         0.001          -0.310         0              0              0
  47  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  48  BathtubBasin       -3.788         0.028          0.595          0              0              0
  49  SinkBasin          -1.908         1.011          1.981          0              180            0
  50  ShowerHead         -3.740         1.858          1.827          0              0              0
  51  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn right, go to the toilet. | STEP 2: Pick up the right candle on the toilet.  | STEP 3: Bring the candle to the counter on the right. | STEP 4: Put the candle away in the lower drawer below the pink rag on the counter.  | STEP 5: Move back to the toilet to the left. | STEP 6: Pick up the candle on the toilet.  | STEP 7: Bring the toilet over to the counter on the right. | STEP 8: Put the candle away in the lower drawer under the pink rag on the counter, right of the other candle.  | END