Task: Put the candles on the toilet in the bottom right drawer below the counter.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.901          1.0            0              180            0
   1  Cloth              -0.805         0.806          0.286          0              90             0              26
   2  Cloth              -1.784         0.507          0.406          0              90             0              32
   3  SoapBar            -2.327         0.953          2.389          0              180            0              40
   4  SoapBar            -0.281         0.808          0.482          0              90             0              26
   5  Candle             -2.193         0.953          2.327          0              180            0              40
   6  Candle             -3.043         0.690          0.943          0              0              0              27
   7  Towel              -2.554         1.597          0.106          0              0              0              33
   8  Towel              -2.554         0.873          0.106          0              0              0              34
   9  Cloth              -3.446         0.219          0.753          0              0              0              42
  10  Candle             -2.327         0.953          2.577          0              180            0              40
  11  HandTowel          -0.038         1.68           2.956          0              90             0              37
  12  SoapBar            -1.591         0.808          0.286          0              90             0              26
  13  ToiletPaper        -1.380         0.199          0.182          0              90             0              28
  14  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  15  SprayBottle        -0.543         0.805          0.482          0              90             0              26
  16  TissueBox          -1.840         0.203          0.182          0              90             0              28
  17  ToiletPaper        -0.808         0.503          0.238          0              90             0              24
  18  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  19  SoapBottle         -0.376         0.983          3.207          0              90             0              22
  20  Drawer             -1.324         0.312          0.311          0              90             0
  21  Drawer             -0.290         0.312          0.311          0              90             0
  22  Sink               -0.463         -0.013         3.046          0              180            0
  23  Mirror             -0.504         1.741          3.304          0              0              0
  24  Drawer             -0.808         0.611          0.311          0              90             0
  25  Drawer             -0.808         0.312          0.311          0              90             0
  26  CounterTop         -1.850         0.001          0.342          0              90             0
  27  Bathtub            -3.499         0.148          0.939          0              0              0
  28  Drawer             -1.840         0.312          0.311          0              90             0
  29  Faucet             -0.463         0.969          3.212          0              180            0
  30  Drawer             -0.290         0.611          0.311          0              90             0
  31  Drawer             -1.324         0.611          0.311          0              90             0
  32  Drawer             -1.840         0.611          0.311          0              90             0
  33  TowelHolder        -2.553         1.582          0.0            0              0              0
  34  TowelHolder        -2.553         0.859          0.0            0              0              0
  35  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  36  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  37  HandTowelHolder    0.0            1.781          2.956          0              180            0
  38  LightSwitch        0.0            1.368          1.993          0              270            0
  39  Window             -4.083         1.735          1.162          90             270            0
  40  Toilet             -1.835         0.000          2.503          0              90             0
  41  SinkBasin          -0.452         0.888          2.969          0              180            0
  42  BathtubBasin       -3.518         0.210          0.939          0              0              0
  43  ShowerHead         -3.540         1.821          1.820          0              0              0
  44  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn to the right, head towards the tub, then turn right and walk to the toilet. | STEP 2: Pick up the candle on the far side of the toilet. | STEP 3: Turn around and head to the counter. | STEP 4: Open the bottom right drawer and put the candle in, then shut the drawer. | STEP 5: Turn around and head to the toilet. | STEP 6: Pick up the candle by the soap. | STEP 7: Turn around and head to the counter. | STEP 8: Open the bottom right drawer and put the candle in, then shut the drawer. | END