Task: Put two soaps in the left drawer under the sink next to the tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.901          1.5            0              0              0
   1  SoapBar            -2.536         0.716          0.251          0              0              0              44
   2  SoapBar            -2.973         0.195          0.168          0              0              0              32
   3  Candle             -2.055         0.195          0.224          0              0              0              25
   4  Candle             -0.284         0.812          1.585          0              0              0              34
   5  SprayBottle        -0.155         0.813          1.570          0              0              0              34
   6  SoapBottle         -0.219         0.813          3.130          0              0              0              34
   7  SoapBottle         -1.767         0.018          0.165          0              0              0              37
   8  HandTowel          -0.034         1.537          2.309          0              90             0              40
   9  Towel              -1.513         1.496          0.109          0              0              0              35
  10  Cloth              -0.284         0.811          2.610          0              0              0              34
  11  SoapBar            -2.962         0.813          0.217          0              0              0              31
  12  ToiletPaper        -2.651         0.192          0.280          0              0              0              25
  13  Plunger            -2.530         0.000          3.026          0              0              0
  14  Candle             -1.997         0.813          0.342          0              0              0              31
  15  SoapBottle         -2.829         0.954          3.220          0              270            0              43
  16  ToiletPaper        -3.017         0.950          3.139          0              270            0              43
  17  SprayBottle        -2.157         0.814          0.155          0              90             0              31
  18  ScrubBrush         -2.332         0.000          3.163          0              0              0
  19  Drawer             -0.325         0.319          2.155          0              0              0
  20  Mirror             0.0            1.473          1.917          0              270            0
  21  Drawer             -0.325         0.319          1.717          0              0              0
  22  Drawer             -0.325         0.319          2.592          0              0              0
  23  Bathtub            -3.589         0.107          1.521          0              0              0
  24  Drawer             -0.325         0.619          2.592          0              0              0
  25  Drawer             -2.249         0.319          0.280          0              0              0
  26  Drawer             -0.325         0.319          3.030          0              0              0
  27  Mirror             0.0            1.473          2.700          0              270            0
  28  Drawer             -0.325         0.619          3.030          0              0              0
  29  ShowerGlass        -0.494         1.490          0.528          0              0              0
  30  Sink               -2.539         0.661          0.252          0              0              0
  31  CounterTop         -2.540         0.805          0.280          0              0              0
  32  Drawer             -2.844         0.319          0.280          0              0              0
  33  ShowerDoor         -1.074         1.033          0.519          0              0              0
  34  CounterTop         -0.277         0.785          1.931          0              0              0
  35  TowelHolder        -1.513         1.481          0.002          0              0              0
  36  LightSwitch        -0.776         1.371          3.300          0              180            0
  37  GarbageCan         -1.754         0.001          0.227          0              0              0
  38  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  39  HandTowelHolder    0.004          1.639          3.105          0              180            0
  40  HandTowelHolder    0.004          1.639          2.309          0              180            0
  41  HandTowelHolder    0.004          1.639          1.542          0              180            0
  42  Window             -4.127         1.519          1.495          90             270            0
  43  Toilet             -2.842         0.000          2.755          0              180            0
  44  SinkBasin          -2.542         0.706          0.269          0              0              0
  45  BathtubBasin       -3.606         0.182          1.536          0              270            0
  46  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  47  Faucet             -2.540         0.794          0.111          0              0              0
  48  Faucet             -0.111         0.794          1.921          0              270            0
  49  ShowerHead         -3.612         1.776          2.299          0              0              0
  50  ShowerHead         -0.079         1.151          0.662          0              0              0
  51  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  52  Sink               -0.260         0.661          1.922          0              270            0
  53  SinkBasin          -0.277         0.706          1.920          0              270            0
  54  NorthWall
  55  SouthWall
  56  SouthWall

Plan:
STEP 1: Head to the counter on your right. | STEP 2: Pick up the soap on the counter.  | STEP 3: Turn around, bring the soap to the other sink, left of the tub.  | STEP 4: Put the soap in the left drawer under the sink.  | STEP 5: Turn around, go to the toilet. | STEP 6: Pick up the soap on the toilet.  | STEP 7: Turn around, go to the sink left of the tub. | STEP 8: Put the soap in the left drawer under the sink, behind the other soap. | END