Task: put two bars of soap in to the drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.900          2.75           0              90             0
   1  SoapBar            -0.289         0.812          3.114          0              0              0              21
   2  Candle             -0.482         0.812          1.373          0              0              0              21
   3  Candle             -0.246         0.510          2.495          0              0              0              25
   4  SoapBottle         -0.417         0.813          3.172          0              0              0              21
   5  ToiletPaper        -1.156         0.897          3.925          0              180            90             32
   6  HandTowel          -0.036         1.658          3.443          0              90             0              35
   7  SoapBar            -0.394         0.828          1.772          0              0              0              42
   8  ToiletPaper        -0.482         0.809          2.297          0              0              0              21
   9  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  10  Candle             -0.353         0.812          2.137          0              0              0              21
  11  SoapBottle         -0.161         0.954          3.721          0              0              0              36
  12  ToiletPaper        -0.134         0.509          1.574          0              0              0              27
  13  SprayBottle        -0.161         0.813          3.085          0              0              0              21
  14  Towel              -1.106         1.151          1.289          0              0              0              33
  15  Cloth              -0.302         0.512          1.519          0              0              0              27
  16  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  17  DishSponge         -0.225         0.813          1.316          0              0              0              21
  18  Sink               -0.299         0.807          2.754          0              270            0
  19  Drawer             -0.319         0.615          3.012          0              0              0
  20  Drawer             -0.319         0.316          3.012          0              0              0
  21  CounterTop         -0.349         0.004          1.453          0              0              0
  22  Drawer             -0.319         0.615          1.978          0              0              0
  23  Drawer             -0.319         0.316          1.978          0              0              0
  24  Drawer             -0.319         0.316          1.463          0              0              0
  25  Drawer             -0.319         0.615          2.495          0              0              0
  26  ShowerDoor         -1.514         0.910          1.167          0              0              0
  27  Drawer             -0.319         0.615          1.463          0              0              0
  28  Drawer             -0.319         0.316          2.495          0              0              0
  29  Faucet             -0.076         0.805          2.757          0              0              0
  30  Mirror             -0.228         0.465          1.453          0              0              0
  31  ShowerGlass        -0.766         0.541          0.485          0              0              0
  32  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  33  TowelHolder        -1.105         1.136          1.183          0              0              0
  34  GarbageCan         -2.041         -0.000         3.724          0              45             0
  35  HandTowelHolder    0.001          1.759          3.443          0              180            0
  36  Toilet             -0.600         -0.000         3.671          0              270            0
  37  LightSwitch        -2.312         1.386          3.296          0              90             0
  38  Faucet             -0.076         0.805          1.733          0              0              0
  39  SinkBasin          -0.304         0.819          2.753          0              0              0
  40  Sink               -0.298         0.807          1.725          0              270            0
  41  ShowerHead         -0.083         1.248          0.522          0              0              0
  42  SinkBasin          -0.304         0.819          1.723          0              0              0
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: move to the right to face the sink on the right | STEP 2: pick up the pink bar of soap out of the sink on the right | STEP 3: move to the left in between both sinks | STEP 4: pull out the drawer that is closest to the sink on the right and put the pink bar of soap in to the drawer and close the drawer | STEP 5: move to the left to face the sink on the left side | STEP 6: pick up the bar of soap that is sitting to the left of the sink on the left side | STEP 7: move to the right to face the drawer closest to the sink on the right | STEP 8: open the drawer and put the pink bar of soap in to the drawer on top of the other bar of soap | END