Task: put soap in drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          1.75           0              270            0
   1  Towel              0.609          1.376          0.583          0              270            0              26
   2  HandTowel          0.634          1.512          3.564          0              90             0              33
   3  SoapBottle         0.594          1.052          1.533          0              270            0              34
   4  HandTowel          0.634          1.512          1.892          0              90             0              32
   5  Towel              -0.442         1.375          1.282          0              0              0              27
   6  SoapBar            0.655          1.044          1.664          0              270            0              34
   7  ToiletPaper        0.361          0.504          2.174          0              0              0              18
   8  ToiletPaper        0.390          0.508          3.231          0              0              0              14
   9  Candle             0.588          0.821          2.380          0              0              0              22
  10  ScrubBrush         0.553          0.000          1.725          0              0              0
  11  Cloth              0.502          0.215          2.196          0              0              0              15
  12  Plunger            0.594          -0.000         1.898          0              0              0
  13  SprayBottle        0.455          0.820          2.325          0              0              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: walk to face toilet | STEP 2: pick up soap bar from toilet tank | STEP 3: turn left to face sink drawers | STEP 4: put soap in drawer | END