Task: Place a wet bar of soap in the topmost right cabinet drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          2.25           0              180            0
   1  SoapBottle         0.593          1.052          1.270          0              270            0              34
   2  SoapBottle         0.594          1.052          1.467          0              270            0              34
   3  SoapBottle         0.257          0.827          2.216          0              0              0              22
   4  HandTowel          0.634          1.512          1.892          0              90             0              32
   5  Towel              0.609          1.376          0.583          0              270            0              26
   6  SoapBar            0.455          0.819          2.325          0              0              0              22
   7  ToiletPaper        0.278          0.207          2.979          0              0              0              24
   8  ToiletPaper        0.521          0.816          3.239          0              0              0              22
   9  Candle             0.614          0.212          2.608          0              0              0              23
  10  ScrubBrush         0.553          0.000          1.725          0              0              0
  11  Cloth              0.446          0.216          2.899          0              0              0              24
  12  Plunger            0.594          -0.000         1.898          0              0              0
  13  SprayBottle        0.384          0.810          2.124          0              327.500        0              22
  14  Drawer             0.443          0.624          3.310          0              0              0
  15  Drawer             0.443          0.323          2.194          0              0              0
  16  ShowerDoor         -0.923         1.032          1.155          0              0              0
  17  Sink               0.495          0.661          2.756          0              270            0
  18  Drawer             0.443          0.624          2.193          0              0              0
  19  Faucet             0.717          0.982          2.756          0              0              0
  20  Mirror             0.629          1.532          2.697          0              0              0
  21  ShowerGlass        -0.152         1.266          1.156          0              0              0
  22  CounterTop         0.458          0.789          2.759          0              0              0
  23  Drawer             0.443          0.323          2.566          0              0              0
  24  Drawer             0.443          0.323          2.937          0              0              0
  25  Drawer             0.443          0.323          3.310          0              0              0
  26  TowelHolder        0.716          1.361          0.583          0              270            0
  27  TowelHolder        -0.442         1.361          1.175          0              0              0
  28  LightSwitch        -1.749         1.429          3.325          0              90             0
  29  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  30  GarbageCan         0.412          -0.029         3.728          0              0              0
  31  SinkBasin          0.440          0.667          2.746          0              270            0
  32  HandTowelHolder    0.673          1.613          1.891          0              180            0
  33  HandTowelHolder    0.673          1.613          3.563          0              180            0
  34  Toilet             0.270          0.000          1.463          0              0              0
  35  ShowerHead         -1.705         1.894          0.587          0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn left to face the counter. | STEP 2: Pick up the soap from the counter next to the sink. | STEP 3: Turn left, walk forward a bit, and turn back right to face the sink. | STEP 4: Place the soap in the sink and get it wet. | STEP 5: Turn around, move forward, and turn back around to face the cabinet. | STEP 6: Open the topmost right drawer and place the soap inside. | END