Task: Putting two bars of soap 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              -1.75          0.900          3.5            0              270            0
   1  Cloth              -0.353         0.812          2.243          0              0              0              24
   2  SoapBar            -0.215         0.952          3.596          0              0              0              39
   3  SoapBar            -0.482         0.812          3.201          0              0              0              24
   4  Candle             -0.246         0.512          2.846          0              0              0              22
   5  Candle             -0.161         0.812          3.201          0              0              0              24
   6  SprayBottle        -0.353         0.813          3.172          0              0              0              24
   7  SprayBottle        -0.134         0.954          3.846          0              0              0              39
   8  DishSponge         -0.358         0.513          2.034          0              0              0              25
   9  HandTowel          -0.036         1.658          3.443          0              90             0              38
  10  SoapBar            -0.331         0.828          1.627          0              0              0              45
  11  ToiletPaper        -1.156         0.897          3.925          0              180            90             35
  12  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  13  Candle             -0.134         0.952          3.533          0              0              0              39
  14  SoapBottle         -0.161         0.813          2.350          0              0              0              24
  15  ToiletPaper        -0.134         0.507          1.408          0              0              0              30
  16  SprayBottle        -0.134         0.954          3.471          0              0              0              39
  17  Towel              -1.106         1.151          1.289          0              0              0              36
  18  Cloth              -0.302         0.206          1.408          0              0              0              30
  19  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  20  DishSponge         -0.289         0.813          1.288          0              0              0              24
  21  Sink               -0.299         0.807          2.754          0              270            0
  22  Drawer             -0.319         0.615          3.012          0              0              0
  23  Drawer             -0.319         0.316          3.012          0              0              0
  24  CounterTop         -0.349         0.004          1.453          0              0              0
  25  Drawer             -0.319         0.615          1.978          0              0              0
  26  Drawer             -0.319         0.316          1.978          0              0              0
  27  Drawer             -0.319         0.316          1.463          0              0              0
  28  Drawer             -0.319         0.615          2.495          0              0              0
  29  ShowerDoor         -1.514         0.910          1.167          0              0              0
  30  Drawer             -0.319         0.615          1.463          0              0              0
  31  Drawer             -0.319         0.316          2.495          0              0              0
  32  Faucet             -0.076         0.805          2.757          0              0              0
  33  Mirror             -0.228         0.465          1.453          0              0              0
  34  ShowerGlass        -0.766         0.541          0.485          0              0              0
  35  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  36  TowelHolder        -1.105         1.136          1.183          0              0              0
  37  GarbageCan         -2.041         -0.000         3.724          0              45             0
  38  HandTowelHolder    0.001          1.759          3.443          0              180            0
  39  Toilet             -0.600         -0.000         3.671          0              270            0
  40  LightSwitch        -2.312         1.386          3.296          0              90             0
  41  Faucet             -0.076         0.805          1.733          0              0              0
  42  SinkBasin          -0.304         0.819          2.753          0              0              0
  43  Sink               -0.298         0.807          1.725          0              270            0
  44  ShowerHead         -0.083         1.248          0.522          0              0              0
  45  SinkBasin          -0.304         0.819          1.723          0              0              0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn around and get to the front of the toilet | STEP 2: Grab the soap bar off of the top of the toilet | STEP 3: Turn right and face the drawers at the bottom of the sink | STEP 4: Put the soap in the top right drawer | STEP 5: Move forward and face the sink | STEP 6: Grab the soap bar out of the sink | STEP 7: Back up and face the drawers at the bottom | STEP 8: Put the soap in the top right drawer | END