Task: Retrieve two candles in bathroom and put in cabinet under sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.903          1.5            0              90             0
   1  Cloth              0.449          0.097          3.558          0              0              0              20
   2  SoapBar            -1.569         0.164          0.285          0              0              0              30
   3  SoapBar            -1.036         0.164          0.465          0              0              0              30
   4  Candle             0.607          1.056          4.670          0              270            0              33
   5  SoapBottle         0.306          0.101          2.255          0              0              0              26
   6  SoapBottle         -0.093         0.707          0.863          0              0              0              21
   7  Towel              -2.393         1.478          0.580          0              90             0              27
   8  Candle             -0.068         0.713          1.008          0              0              0              21
   9  Cloth              -1.036         0.164          0.736          0              0              0              30
  10  HandTowel          0.397          1.656          2.039          0              180            0              31
  11  Plunger            0.480          0.002          4.793          0              0              0
  12  SoapBar            -0.858         0.164          0.375          0              0              0              30
  13  ToiletPaper        -2.322         0.701          0.280          0              0              0              21
  14  ToiletPaper        -2.004         0.701          0.863          0              0              0              21
  15  SoapBottle         0.306          0.101          2.738          0              0              0              26
  16  SprayBottle        0.729          1.048          4.342          0              270            0              33
  17  ScrubBrush         0.688          0.002          4.867          0              0              0
  18  Sink               0.426          1.037          2.947          0              270            0
  19  Window             -2.548         1.673          2.405          0              0              0
  20  Cabinet            0.068          0.366          3.772          0              0              0
  21  Bathtub            -1.042         0.155          0.558          0              0              0
  22  SinkBasin          0.404          0.926          2.926          0              270            0
  23  Mirror             0.858          1.863          2.972          0              0              0
  24  CounterTop         0.487          1.015          3.090          0              0              0
  25  Faucet             -0.207         0.687          0.546          0              0              0
  26  Cabinet            0.074          0.379          2.045          0              0              0
  27  TowelHolder        -2.5           1.463          0.579          0              90             0
  28  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  29  LightSwitch        -1.121         1.333          5.000          0              180            0
  30  BathtubBasin       -1.062         0.153          0.556          0              0              0
  31  HandTowelHolder    0.398          1.758          2.000          0              270            0
  32  GarbageCan         -0.229         0.001          1.445          0              270            0
  33  Toilet             0.376          0.002          4.470          0              0              0
  34  Faucet             0.661          1.043          3.371          0              270            0
  35  Faucet             0.661          1.043          2.520          0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn left walk towards toilet, turn right walk to toilet | STEP 2: Take candle from the toilet tank | STEP 3: Turn right, walk towards tub, turn left | STEP 4: Put candle in cabinet under sink | STEP 5: Turn right, walk to tub | STEP 6: Get candle from tub ledge | STEP 7: Turn around towards sink | STEP 8: Put candle in cabinet under sink | END