Task: Put two soap dispensers away in a bathroom 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          0.901          0.75           0              180            0
   1  Cloth              -0.348         0.811          2.350          0              0              0              35
   2  SoapBar            -1.792         0.017          0.222          0              0              0              38
   3  SoapBar            -0.147         0.219          2.502          0              0              0              23
   4  Candle             -3.280         0.544          0.878          0              0              0              24
   5  SoapBottle         -0.348         0.813          2.740          0              0              0              35
   6  SoapBottle         -0.476         0.813          3.000          0              0              0              35
   7  SoapBottle         -3.042         0.813          0.404          0              0              0              32
   8  ToiletPaper        -2.286         0.825          3.221          0              180            270            47
   9  HandTowel          -3.172         1.487          0.340          0              270            0              39
  10  Towel              -1.513         1.496          0.109          0              0              0              36
  11  Cloth              -2.909         0.194          0.224          0              180            0              33
  12  SoapBar            -0.284         0.812          2.610          0              0              0              35
  13  ToiletPaper        -2.157         0.809          0.404          0              0              0              32
  14  Plunger            -2.530         0.000          3.026          0              0              0
  15  Candle             -0.255         0.218          3.167          0              0              0              27
  16  SoapBottle         -2.767         0.954          3.166          0              270            0              44
  17  ToiletPaper        -2.780         0.192          0.280          0              0              0              26
  18  SprayBottle        -0.219         0.813          2.610          0              0              0              35
  19  ScrubBrush         -2.332         0.000          3.163          0              0              0
  20  Drawer             -0.325         0.319          2.155          0              0              0
  21  Mirror             0.0            1.473          1.917          0              270            0
  22  Drawer             -0.325         0.319          1.717          0              0              0
  23  Drawer             -0.325         0.319          2.592          0              0              0
  24  Bathtub            -3.589         0.107          1.521          0              0              0
  25  Drawer             -0.325         0.619          2.592          0              0              0
  26  Drawer             -2.249         0.319          0.280          0              0              0
  27  Drawer             -0.325         0.319          3.030          0              0              0
  28  Mirror             0.0            1.473          2.700          0              270            0
  29  Drawer             -0.325         0.619          3.030          0              0              0
  30  ShowerGlass        -0.494         1.490          0.528          0              0              0
  31  Sink               -2.539         0.661          0.252          0              0              0
  32  CounterTop         -2.540         0.805          0.280          0              0              0
  33  Drawer             -2.844         0.319          0.280          0              0              0
  34  ShowerDoor         -1.074         1.033          0.519          0              0              0
  35  CounterTop         -0.277         0.785          1.931          0              0              0
  36  TowelHolder        -1.513         1.481          0.002          0              0              0
  37  LightSwitch        -0.776         1.371          3.300          0              180            0
  38  GarbageCan         -1.754         0.001          0.227          0              0              0
  39  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  40  HandTowelHolder    0.004          1.639          3.105          0              180            0
  41  HandTowelHolder    0.004          1.639          2.309          0              180            0
  42  HandTowelHolder    0.004          1.639          1.542          0              180            0
  43  Window             -4.127         1.519          1.495          90             270            0
  44  Toilet             -2.842         0.000          2.755          0              180            0
  45  SinkBasin          -2.542         0.706          0.269          0              0              0
  46  BathtubBasin       -3.606         0.182          1.536          0              270            0
  47  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  48  Faucet             -2.540         0.794          0.111          0              0              0
  49  Faucet             -0.111         0.794          1.921          0              270            0
  50  ShowerHead         -3.612         1.776          2.299          0              0              0
  51  ShowerHead         -0.079         1.151          0.662          0              0              0
  52  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  53  Sink               -0.260         0.661          1.922          0              270            0
  54  SinkBasin          -0.277         0.706          1.920          0              270            0
  55  NorthWall
  56  SouthWall
  57  SouthWall

Plan:
STEP 1: Face the opposite direction and go to the door, then turn right and go to the countertop with two soap dispensers, under the mirror. | STEP 2: Pick up the soap dispenser on the right. | STEP 3: Pivot to your left, all the way around to face the counter again. | STEP 4: Put the soap dispenser into the bottom drawer, immediately to the left of the sink. | STEP 5: Move toward the counter, then back again. | STEP 6: Pick up the other soap dispenser from the counter to your left. | STEP 7: Pivot aimlessly left, all the way around once more. | STEP 8: Put the soap dispenser away in the bottom drawer, immediately left of the sink. | END