Task: Move a bar of clean soap to a cabinet.

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          2.25           0              180            0
   1  Cloth              -1.441         0.068          2.807          0              0              0              19
   2  Candle             -1.560         0.067          3.226          0              0              0              25
   3  SprayBottle        -1.319         0.068          2.290          0              0              0              21
   4  SprayBottle        -1.319         0.068          3.226          0              0              0              25
   5  ToiletPaper        -1.561         0.065          2.857          0              0              0              19
   6  Towel              -0.200         1.174          1.286          0              0              0              28
   7  HandTowel          -1.275         1.6            3.961          0              0              0              30
   8  SoapBar            -1.284         0.994          2.148          0              0              0              26
   9  ToiletPaper        -1.441         0.065          3.693          0              0              0              27
  10  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  11  Candle             -1.259         0.067          3.427          0              0              0              25
  12  TissueBox          -1.481         0.994          2.982          0              0              0              26
  13  SoapBottle         -1.547         0.993          3.933          0              0              0              26
  14  ToiletPaper        -1.219         0.991          2.923          0              0              0              26
  15  SprayBottle        -1.439         0.068          2.240          0              0              0              21
  16  Cloth              -1.500         0.067          2.391          0              0              0              21
  17  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  18  Mirror             -1.703         1.661          3.509          0              0              0
  19  Cabinet            -1.187         0.394          3.030          0              0              0
  20  ShowerDoor         -1.631         1.014          1.170          0              0              0
  21  Cabinet            -1.187         0.394          2.127          0              0              0
  22  Sink               -1.326         0.960          2.567          0              90             0
  23  ShowerGlass        0.254          0.788          0.485          0              0              0
  24  Mirror             -1.703         1.661          2.480          0              0              0
  25  Cabinet            -1.187         0.394          3.063          0              0              0
  26  CounterTop         -1.348         0.972          2.945          0              0              0
  27  Cabinet            -1.187         0.394          3.966          0              0              0
  28  TowelHolder        -0.200         1.160          1.179          0              0              0
  29  GarbageCan         0.209          0.000          3.772          0              0              0
  30  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  31  Window             -0.726         1.667          -0.009         90             0              0
  32  Toilet             -0.039         0.090          1.733          0              270            0
  33  SinkBasin          -1.317         0.998          2.567          0              90             0
  34  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  35  LightSwitch        0.444          1.368          3.323          0              270            0
  36  Faucet             -1.587         0.960          3.513          0              90             0
  37  ShowerHead         -1.618         1.251          0.558          0              180            0
  38  Sink               -1.325         0.960          3.512          0              90             0
  39  SinkBasin          -1.317         0.998          3.513          0              90             0
  40  Faucet             -1.587         0.960          2.569          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop.  | STEP 2: Pick up the bar of soap that is on the bathroom counter.  | STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter.  | STEP 4: Rinse off the soap in the sink. | STEP 5: Move away from the bathroom counter. | STEP 6: Place the bar of soap in the right hand cabinet under the right bathroom sink. | END