Task: put a washed bar of soap into a bureau drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          -0.5           0              0              0
   1  Cloth              -2.768         0.997          -2.923         0              0              0              24
   2  SprayBottle        -2.473         0.993          -2.391         0              0              0              24
   3  SprayBottle        -2.608         0.358          -3.549         0              0              0              22
   4  SoapBottle         -0.221         0.045          -2.798         0              90             0              32
   5  SoapBottle         -0.185         0.619          -3.543         0              90             0              36
   6  HandTowel          -0.038         1.481          -2.661         0              90             0              27
   7  HandTowel          -0.038         1.481          -1.549         0              90             0              28
   8  SoapBar            -2.915         0.992          -2.125         0              0              0              24
   9  ToiletPaper        -2.473         0.989          -3.454         0              0              0              24
  10  ToiletPaper        -0.162         0.091          -3.543         0              90             0              34
  11  Towel              -1.338         1.193          -0.106         0              180            0              25
  12  SoapBottle         -0.148         1.166          -3.399         0              90             0              38
  13  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  14  Cloth              -0.148         1.166          -3.202         0              90             0              38
  15  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  16  Candle             -2.768         0.991          -3.188         0              0              0              24
  17  SprayBottle        -0.149         1.045          -0.544         0              270            0              33
  18  Bathtub            -2.104         0.524          -0.828         0              0              0
  19  Faucet             -0.040         1.017          -2.076         0              270            0
  20  Sink               -0.307         0.0            -2.076         0              270            0
  21  Mirror             -2.983         1.565          -2.900         0              0              0
  22  Shelf              -2.581         0.395          -2.923         0              0              0
  23  Shelf              -2.539         0.130          -2.923         0              0              0
  24  CounterTop         -2.704         1.029          -2.923         0              0              0
  25  TowelHolder        -1.338         1.179          0.0            0              180            0
  26  LightSwitch        -0.363         1.330          -3.999         0              0              0
  27  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  28  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  29  SinkBasin          -0.310         0.859          -2.076         0              0              0
  30  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  31  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  32  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  33  Toilet             -0.411         -0.000         -0.547         0              0              0
  34  Drawer             -0.229         0.161          -3.398         0              270            0
  35  Drawer             -0.229         0.420          -3.398         0              270            0
  36  Drawer             -0.229         0.680          -3.398         0              270            0
  37  Drawer             -0.229         0.940          -3.398         0              270            0
  38  Dresser            -0.205         0.000          -3.398         0              270            0
  39  ShowerHead         -2.579         1.261          -0.064         0              270            0
  40  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: face counter with mirror above | STEP 2: pick up pink bar of soap from counter top | STEP 3: walk to face left side of sink | STEP 4: wash soap in sink, pick up soap from sink | STEP 5: walk to the right to face bureau | STEP 6: put soap into top drawer of bureau | END