Task: Move two bars of soap to a table 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          -0.5           0              90             0
   1  Cloth              -1.013         0.291          -2.574         0              0              0              35
   2  Cloth              -1.524         0.291          -2.631         0              0              0              35
   3  SprayBottle        -2.429         1.046          -0.361         0              90             0              37
   4  Candle             -2.459         1.086          -0.295         0              90             0              37
   5  Candle             -0.448         0.764          -2.042         0              0              0              22
   6  SoapBar            -2.306         1.045          -0.164         0              90             0              37
   7  SoapBar            -2.188         0.913          -1.315         0              90             0              34
   8  SoapBottle         -2.337         1.045          -0.558         0              90             0              37
   9  Towel              -2.424         1.541          -2.487         0              90             0              28
  10  ToiletPaper        -2.337         1.042          -0.295         0              90             0              37
  11  Towel              -0.106         1.541          -2.487         0              270            0              29
  12  Candle             -0.047         0.917          -1.461         0              0              0              24
  13  HandTowel          -2.496         1.836          -0.907         0              270            0              32
  14  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  15  SoapBottle         -2.306         1.045          -0.361         0              90             0              37
  16  SoapBar            -0.125         0.876          -1.461         0              0              0              24
  17  ToiletPaper        -2.402         1.036          -0.173         0              0              0              37
  18  Cloth              -1.780         0.291          -2.631         0              0              0              35
  19  ToiletPaper        -1.490         1.049          -0.110         0              180            90             31
  20  SprayBottle        -0.202         0.877          -1.219         0              0              0              24
  21  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  22  Bathtub            -1.281         0.277          -2.529         0              0              0
  23  Mirror             -2.512         1.764          -1.518         0              0              0
  24  SideTable          -0.153         0.000          -1.465         0              270            0
  25  Sink               -2.273         0.0            -1.519         0              90             0
  26  Drawer             -0.218         0.775          -1.466         0              270            0
  27  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  28  TowelHolder        -2.530         1.526          -2.486         0              90             0
  29  TowelHolder        0.0            1.526          -2.486         0              270            0
  30  LightSwitch        0.0            1.324          -1.146         0              270            0
  31  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  32  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  33  Window             -1.291         1.815          -3.121         90             0              0
  34  SinkBasin          -2.216         0.905          -1.503         0              90             0
  35  SinkBasin          -1.305         0.280          -2.516         0              0              0
  36  HousePlant         -0.108         0.870          -1.649         0              0              0
  37  Toilet             -2.045         0.000          -0.358         0              180            0
  38  Faucet             -2.446         0.940          -1.516         0              90             0
  39  Faucet             -0.132         0.706          -2.877         0              29.999         0
  40  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: Go to the small black table | STEP 2: Pick up a bar of soap from the table | STEP 3: Turn around and face the table | STEP 4: Put the bar of soap in the table drawer | STEP 5: Go to the sink | STEP 6: Pick up the bar of soap from the sink | STEP 7: Go to the black table | STEP 8: Put the soap in the table drawer | END