Task: Put a washed soap away in 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              -2.25          0.900          3.0            0              0              0
   1  SoapBar            -3.701         0.185          2.895          0              0              0              19
   2  Candle             -1.229         0.048          4.828          0              0              0              30
   3  Candle             -3.597         0.550          1.293          0              90             0              36
   4  SoapBottle         -1.095         0.968          4.734          0              0              0              26
   5  SoapBottle         -1.279         0.044          5.006          0              0              0              30
   6  Towel              -0.181         1.419          2.425          0              270            0              34
   7  Candle             -0.911         0.046          4.708          0              0              0              29
   8  SoapBottle         -0.294         0.044          4.946          0              0              0              20
   9  HandTowel          -0.112         1.467          4.811          0              270            0              38
  10  Towel              -1.719         1.228          1.846          0              0              0              33
  11  SoapBar            -2.227         0.034          4.948          0              0              0              35
  12  ToiletPaper        -0.188         1.036          3.374          0              0              0              40
  13  TissueBox          -3.828         0.541          0.741          0              90             0              36
  14  Cloth              -0.811         0.038          4.768          0              90             0              29
  15  ToiletPaper        -0.153         1.126          3.705          0              270            270            39
  16  SprayBottle        -0.285         1.045          3.157          0              270            0              40
  17  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  18  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  19  BathtubBasin       -3.404         0.166          2.904          0              0              0
  20  Cabinet            -0.124         0.364          4.634          0              0              0
  21  Bathtub            -2.896         0.667          2.860          0              0              0
  22  Faucet             -3.475         0.711          3.811          0              0              0
  23  ShowerGlass        0.0            0.0            0.0            0              0              0
  24  ShowerDoor         -0.282         1.228          1.730          0              0              0
  25  Faucet             -1.524         1.047          5.096          0              180            0
  26  CounterTop         -1.023         0.954          4.884          0              0              0
  27  Mirror             -0.975         1.577          5.145          0              0              0
  28  Cabinet            -1.962         0.364          4.634          0              0              0
  29  Cabinet            -1.027         0.364          4.634          0              0              0
  30  Cabinet            -1.059         0.364          4.634          0              0              0
  31  Window             -1.993         1.888          0.144          0              0              0
  32  LightSwitch        -2.496         1.366          5.146          0              180            0
  33  TowelHolder        -1.720         1.213          1.740          0              0              0
  34  TowelHolder        -0.074         1.404          2.424          0              270            0
  35  GarbageCan         -2.346         0.002          4.878          0              180            0
  36  Shelf              -3.713         0.531          0.951          0              90             0
  37  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  38  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  39  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  40  Toilet             -0.517         -0.000         3.220          0              0              0
  41  ShowerHead         -0.182         1.256          0.875          0              0              0
  42  SinkBasin          -0.569         0.986          4.886          0              180            0
  43  Sink               -0.579         0.926          4.874          0              180            0
  44  Sink               -1.524         0.926          4.874          0              180            0
  45  SinkBasin          -1.514         0.986          4.886          0              180            0
  46  Faucet             -0.583         1.047          5.096          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Move forward to the trash can. | STEP 2: Pick up the soap from the trash can.  | STEP 3: Move right with the soap and face the sink on the right.  | STEP 4: Wash the soap in the sink with water.  | STEP 5: Bring the washed soap to the right cabinet under the right sink.  | STEP 6: Put the washed soap in the right cabinet under the right sink.  | END