Task: put a washed bar of soap in 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              -1.0           0.900          -1.0           0              180            0
   1  Cloth              -2.587         0.085          -0.966         0              90             0              30
   2  Cloth              -2.768         0.997          -2.657         0              0              0              24
   3  SprayBottle        -2.473         0.993          -2.657         0              0              0              24
   4  SoapBar            -2.524         0.080          -0.535         0              90             0              30
   5  SoapBottle         -0.180         1.162          -3.693         0              90             0              38
   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            -0.221         0.043          -2.747         0              90             0              32
   9  ToiletPaper        -0.212         1.161          -3.104         0              90             0              38
  10  ToiletPaper        -0.185         0.875          -3.471         0              90             0              37
  11  Towel              -1.338         1.193          -0.106         0              180            0              25
  12  SoapBottle         -0.180         1.162          -3.300         0              90             0              38
  13  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  14  Cloth              -2.587         0.085          -1.253         0              90             0              30
  15  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  16  Candle             -0.091         0.616          -3.616         0              90             0              36
  17  SprayBottle        -0.148         1.162          -3.595         0              90             0              38
  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: walk to face a grey garbage can to the right of the sink | STEP 2: pick up the pick soap bar from the garbage can | STEP 3: walk to face the left side of the sink | STEP 4: wash the soap in the sink, pick up the soap bar from the sink | STEP 5: walk to face the bureau to the right of the grey garbage can | STEP 6: put the soap in the bottom drawer of the bureau | END