Task: clean up soap and put them in the drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.901          -1.25          0              180            0
   1  SoapBar            -2.429         1.045          -0.295         0              90             0              31
   2  SoapBar            -2.275         0.052          -1.060         0              90             0              21
   3  SoapBar            -0.241         0.876          -1.702         0              0              0              18
   4  ToiletPaper        -2.398         1.042          -0.164         0              90             0              31
   5  Towel              -0.106         1.541          -2.487         0              270            0              23
   6  Candle             -0.047         0.917          -1.541         0              0              0              18
   7  HandTowel          -2.496         1.836          -0.907         0              270            0              26
   8  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
   9  SoapBottle         -0.146         0.867          -1.296         0              297.848        0              18
  10  SoapBar            -0.501         0.290          -2.402         0              0              0              29
  11  ToiletPaper        -1.490         1.049          -0.110         0              180            90             25
  12  Cloth              -0.757         0.291          -2.517         0              0              0              29
  13  ToiletPaper        -0.202         0.872          -1.461         0              0              0              18
  14  SprayBottle        -2.459         1.046          -0.230         0              90             0              31
  15  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  16  Bathtub            -1.281         0.277          -2.529         0              0              0
  17  Mirror             -2.512         1.764          -1.518         0              0              0
  18  SideTable          -0.153         0.000          -1.465         0              270            0
  19  Sink               -2.273         0.0            -1.519         0              90             0
  20  Drawer             -0.218         0.775          -1.466         0              270            0
  21  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  22  TowelHolder        -2.530         1.526          -2.486         0              90             0
  23  TowelHolder        0.0            1.526          -2.486         0              270            0
  24  LightSwitch        0.0            1.324          -1.146         0              270            0
  25  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  26  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  27  Window             -1.291         1.815          -3.121         90             0              0
  28  SinkBasin          -2.216         0.905          -1.503         0              90             0
  29  SinkBasin          -1.305         0.280          -2.516         0              0              0
  30  HousePlant         -0.108         0.870          -1.649         0              0              0
  31  Toilet             -2.045         0.000          -0.358         0              180            0
  32  Faucet             -2.446         0.940          -1.516         0              90             0
  33  Faucet             -0.132         0.706          -2.877         0              29.999         0
  34  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  35  EastWall
  36  EastWall
  37  SouthWall

Plan:
STEP 1: walk straight then turn left and walk straight towards the table | STEP 2: pick up the bar of soap off the table | STEP 3: turn around and walk straight then turn left towards the tub then turn left again towards the table | STEP 4: open the table drawer and put the soap inside and close it | STEP 5: turn right towards the tub and look down  | STEP 6: pick up the bar of soap in the tub | STEP 7: turn right then turn left again and then left again towards the table | STEP 8: open the table drawer and put the soap beside the other soap on the right side and close the drawer | END