Task: rinse the soap to put it in a drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.901          1.0            0              90             0
   1  Cloth              -2.973         0.194          0.336          0              0              0              33
   2  SoapBar            -3.559         0.191          1.131          0              270            0              46
   3  SoapBar            -0.284         0.812          2.740          0              0              0              35
   4  SoapBar            -2.037         0.813          0.217          0              0              0              32
   5  Candle             -3.268         0.544          2.110          0              0              0              24
   6  Candle             -0.412         0.812          1.539          0              0              0              35
   7  SprayBottle        -0.219         0.813          3.000          0              0              0              35
   8  SoapBottle         -0.363         0.219          2.200          0              0              0              20
   9  HandTowel          -0.034         1.537          1.542          0              90             0              42
  10  Towel              -1.513         1.496          0.109          0              0              0              36
  11  Cloth              -0.284         0.811          2.350          0              0              0              35
  12  SoapBar            -0.348         0.812          2.870          0              0              0              35
  13  ToiletPaper        -2.686         0.946          3.182          0              0              0              44
  14  Plunger            -2.530         0.000          3.026          0              0              0
  15  Candle             -3.002         0.813          0.155          0              0              0              32
  16  SoapBottle         -0.255         0.219          2.547          0              0              0              23
  17  ToiletPaper        -2.407         0.146          3.218          0              0              270            47
  18  SprayBottle        -2.922         0.814          0.467          0              0              0              32
  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: walk on over to the bathroom counter to the left of the sink | STEP 2: grab a bar of soap | STEP 3: walk over to the kitchen sink | STEP 4: put the soap inside the sink and rinse it off, then pick the soap back up | STEP 5: back up a bit to face the kitchen sink again | STEP 6: open the top left drawer of the black cabinets below the sink, and put the soap in there. | END