Task: Put 2 soaps 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              -1.75          0.900          1.5            0              180            0
   1  Cloth              -0.302         0.512          2.439          0              0              0              26
   2  SoapBar            -0.353         0.812          1.373          0              0              0              22
   3  SoapBar            -0.268         0.828          2.753          0              0              0              40
   4  DishSponge         -0.246         0.513          2.034          0              0              0              23
   5  SoapBottle         -0.289         0.813          1.288          0              0              0              22
   6  ToiletPaper        -0.188         0.949          3.658          0              0              0              37
   7  HandTowel          -0.036         1.658          3.443          0              90             0              36
   8  SoapBar            -0.134         0.952          3.846          0              0              0              37
   9  ToiletPaper        -0.482         0.809          3.172          0              0              0              22
  10  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  11  Candle             -0.482         0.812          2.350          0              0              0              22
  12  SoapBottle         -2.146         0.057          3.843          0              90             0              35
  13  ToiletPaper        -0.246         0.203          3.068          0              0              0              21
  14  SprayBottle        -0.161         0.813          2.243          0              0              0              22
  15  Towel              -1.106         1.151          1.289          0              0              0              34
  16  Cloth              -0.246         0.206          2.551          0              0              0              29
  17  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  18  DishSponge         -0.299         0.829          1.627          0              0              0              43
  19  Sink               -0.299         0.807          2.754          0              270            0
  20  Drawer             -0.319         0.615          3.012          0              0              0
  21  Drawer             -0.319         0.316          3.012          0              0              0
  22  CounterTop         -0.349         0.004          1.453          0              0              0
  23  Drawer             -0.319         0.615          1.978          0              0              0
  24  Drawer             -0.319         0.316          1.978          0              0              0
  25  Drawer             -0.319         0.316          1.463          0              0              0
  26  Drawer             -0.319         0.615          2.495          0              0              0
  27  ShowerDoor         -1.514         0.910          1.167          0              0              0
  28  Drawer             -0.319         0.615          1.463          0              0              0
  29  Drawer             -0.319         0.316          2.495          0              0              0
  30  Faucet             -0.076         0.805          2.757          0              0              0
  31  Mirror             -0.228         0.465          1.453          0              0              0
  32  ShowerGlass        -0.766         0.541          0.485          0              0              0
  33  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  34  TowelHolder        -1.105         1.136          1.183          0              0              0
  35  GarbageCan         -2.041         -0.000         3.724          0              45             0
  36  HandTowelHolder    0.001          1.759          3.443          0              180            0
  37  Toilet             -0.600         -0.000         3.671          0              270            0
  38  LightSwitch        -2.312         1.386          3.296          0              90             0
  39  Faucet             -0.076         0.805          1.733          0              0              0
  40  SinkBasin          -0.304         0.819          2.753          0              0              0
  41  Sink               -0.298         0.807          1.725          0              270            0
  42  ShowerHead         -0.083         1.248          0.522          0              0              0
  43  SinkBasin          -0.304         0.819          1.723          0              0              0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Turn around, go forward, turn right and go to the sink | STEP 2: Pick up the soap in the sink | STEP 3: Turn around, go forward a bit, turn left, go forward a bit, turn right  | STEP 4: Put the soap into the drawer under the sink | STEP 5: Turn up and face the counter | STEP 6: Pick up the soap on the counter | STEP 7: Turn around, go forward a bit, turn around | STEP 8: Put the soap into the drawer under the sink | END