Task: place a clean bar of soap inside the bathroom cabinet drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          1.0            0              0              0
   1  Cloth              -0.619         0.895          2.969          0              180            0              44
   2  Cloth              -3.383         0.219          0.753          0              0              0              45
   3  SoapBar            -1.324         0.508          0.238          0              90             0              34
   4  SoapBar            -0.551         0.982          3.207          0              180            0              25
   5  SoapBar            -0.727         0.982          3.207          0              180            0              25
   6  SprayBottle        -1.853         0.805          0.352          0              90             0              29
   7  SoapBottle         -0.543         0.809          0.352          0              90             0              29
   8  SoapBottle         -1.067         0.809          0.286          0              90             0              29
   9  Towel              -2.554         0.873          0.106          0              0              0              37
  10  ToiletPaper        -0.805         0.805          0.221          0              90             0              29
  11  Towel              -2.554         1.597          0.106          0              0              0              36
  12  Cloth              -0.235         0.505          0.294          0              90             0              33
  13  Candle             -0.805         0.807          0.155          0              90             0              29
  14  HandTowel          -0.038         1.68           2.956          0              90             0              40
  15  SoapBar            -0.974         0.201          0.294          0              90             0              28
  16  ToiletPaper        -1.567         0.843          3.221          0              180            270            39
  17  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  18  SprayBottle        -1.591         0.805          0.286          0              90             0              29
  19  TissueBox          -1.435         0.203          0.406          0              90             0              31
  20  ToiletPaper        -3.057         0.688          1.278          0              0              0              30
  21  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  22  SoapBottle         -2.274         0.955          2.702          0              180            0              43
  23  Drawer             -1.324         0.312          0.311          0              90             0
  24  Drawer             -0.290         0.312          0.311          0              90             0
  25  Sink               -0.463         -0.013         3.046          0              180            0
  26  Mirror             -0.504         1.741          3.304          0              0              0
  27  Drawer             -0.808         0.611          0.311          0              90             0
  28  Drawer             -0.808         0.312          0.311          0              90             0
  29  CounterTop         -1.850         0.001          0.342          0              90             0
  30  Bathtub            -3.499         0.148          0.939          0              0              0
  31  Drawer             -1.840         0.312          0.311          0              90             0
  32  Faucet             -0.463         0.969          3.212          0              180            0
  33  Drawer             -0.290         0.611          0.311          0              90             0
  34  Drawer             -1.324         0.611          0.311          0              90             0
  35  Drawer             -1.840         0.611          0.311          0              90             0
  36  TowelHolder        -2.553         1.582          0.0            0              0              0
  37  TowelHolder        -2.553         0.859          0.0            0              0              0
  38  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  39  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  40  HandTowelHolder    0.0            1.781          2.956          0              180            0
  41  LightSwitch        0.0            1.368          1.993          0              270            0
  42  Window             -4.083         1.735          1.162          90             270            0
  43  Toilet             -1.835         0.000          2.503          0              90             0
  44  SinkBasin          -0.452         0.888          2.969          0              180            0
  45  BathtubBasin       -3.518         0.210          0.939          0              0              0
  46  ShowerHead         -3.540         1.821          1.820          0              0              0
  47  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  48  NorthWall
  49  SouthWall
  50  SouthWall

Plan:
STEP 1: move forwards to the end of the room where the sink is | STEP 2: grab the bar of soap off of the sink there | STEP 3: move to the left a bit and face the left side of the bathroom sink | STEP 4: rinse off the soap inside the sink and pick it back up again | STEP 5: turn right and walk over to the cabinets at the end of the room | STEP 6: place the bar of soap inside the cabinet drawer | END