Task: pick up soap from the tub   and candle  then put them in the bottom sink drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.901          2.75           0              90             0
   1  Cloth              -0.412         0.811          2.870          0              0              0              36
   2  Cloth              -3.606         0.190          1.273          0              270            0              47
   3  SoapBar            -3.700         0.191          1.981          0              270            0              47
   4  Candle             -3.294         0.544          0.810          0              0              0              25
   5  Candle             -3.268         0.544          0.878          0              0              0              25
   6  SprayBottle        -2.962         0.814          0.155          0              90             0              33
   7  SoapBottle         -0.255         0.519          2.593          0              0              0              26
   8  HandTowel          -0.034         1.537          3.105          0              90             0              41
   9  ToiletPaper        -2.829         0.950          3.166          0              270            0              45
  10  HandTowel          -3.172         1.487          0.340          0              270            0              40
  11  Towel              -1.513         1.496          0.109          0              0              0              37
  12  Cloth              -0.412         0.811          2.610          0              0              0              36
  13  SoapBar            -2.157         0.813          0.217          0              0              0              33
  14  ToiletPaper        -2.686         0.946          3.182          0              0              0              45
  15  Plunger            -2.530         0.000          3.026          0              0              0
  16  Candle             -0.348         0.812          1.524          0              0              0              36
  17  SoapBottle         -1.792         0.018          0.194          0              0              0              39
  18  ToiletPaper        -0.155         0.809          2.480          0              0              0              36
  19  SprayBottle        -0.348         0.813          1.570          0              0              0              36
  20  ScrubBrush         -2.332         0.000          3.163          0              0              0
  21  Drawer             -0.325         0.319          2.155          0              0              0
  22  Mirror             0.0            1.473          1.917          0              270            0
  23  Drawer             -0.325         0.319          1.717          0              0              0
  24  Drawer             -0.325         0.319          2.592          0              0              0
  25  Bathtub            -3.589         0.107          1.521          0              0              0
  26  Drawer             -0.325         0.619          2.592          0              0              0
  27  Drawer             -2.249         0.319          0.280          0              0              0
  28  Drawer             -0.325         0.319          3.030          0              0              0
  29  Mirror             0.0            1.473          2.700          0              270            0
  30  Drawer             -0.325         0.619          3.030          0              0              0
  31  ShowerGlass        -0.494         1.490          0.528          0              0              0
  32  Sink               -2.539         0.661          0.252          0              0              0
  33  CounterTop         -2.540         0.805          0.280          0              0              0
  34  Drawer             -2.844         0.319          0.280          0              0              0
  35  ShowerDoor         -1.074         1.033          0.519          0              0              0
  36  CounterTop         -0.277         0.785          1.931          0              0              0
  37  TowelHolder        -1.513         1.481          0.002          0              0              0
  38  LightSwitch        -0.776         1.371          3.300          0              180            0
  39  GarbageCan         -1.754         0.001          0.227          0              0              0
  40  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  41  HandTowelHolder    0.004          1.639          3.105          0              180            0
  42  HandTowelHolder    0.004          1.639          2.309          0              180            0
  43  HandTowelHolder    0.004          1.639          1.542          0              180            0
  44  Window             -4.127         1.519          1.495          90             270            0
  45  Toilet             -2.842         0.000          2.755          0              180            0
  46  SinkBasin          -2.542         0.706          0.269          0              0              0
  47  BathtubBasin       -3.606         0.182          1.536          0              270            0
  48  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  49  Faucet             -2.540         0.794          0.111          0              0              0
  50  Faucet             -0.111         0.794          1.921          0              270            0
  51  ShowerHead         -3.612         1.776          2.299          0              0              0
  52  ShowerHead         -0.079         1.151          0.662          0              0              0
  53  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  54  Sink               -0.260         0.661          1.922          0              270            0
  55  SinkBasin          -0.277         0.706          1.920          0              270            0
  56  NorthWall
  57  SouthWall
  58  SouthWall

Plan:
STEP 1: Turn right and move forward to the sink then turn right again | STEP 2: pick up soap from the tub | STEP 3: turn right and move forward then turn right again and move forward to the sink | STEP 4: open bottom drawer and put soap inside of it | STEP 5: turn left and then move forward and then turn right and face the sink and look at candle on the sink | STEP 6: pick up candle from the counter | STEP 7: turn around in a full circle | STEP 8: place candle in bottom right drawer | END