Task: move soap from counter to inside 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          2.5            0              0              0
   1  TissueBox          -1.547         0.994          2.178          0              0              0              26
   2  SoapBar            -1.416         0.994          3.873          0              0              0              26
   3  Candle             -1.382         0.068          2.857          0              0              0              19
   4  SprayBottle        -1.561         0.069          2.908          0              0              0              25
   5  SoapBottle         -1.620         0.067          2.391          0              0              0              21
   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            -1.620         0.067          2.190          0              0              0              21
   9  ToiletPaper        -1.332         0.058          2.261          0              0              0              21
  10  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  11  Candle             -1.547         0.994          3.842          0              0              0              26
  12  TissueBox          -1.501         0.069          3.793          0              0              0              27
  13  SoapBottle         0.329          0.893          1.618          0              0              0              32
  14  ToiletPaper        0.313          0.043          3.810          0              0              0              29
  15  SprayBottle        -1.501         0.069          2.757          0              0              0              21
  16  Cloth              -1.379         0.067          3.226          0              0              0              25
  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: walk forward, turn left, walk to the sink | STEP 2: pick up the pink bar of soap that is next to the sink | STEP 3: put the soap in the sink, turn the water on and then off, take the bar of soap out | STEP 4: turn around, take a few steps, turn around | STEP 5: open cabinet on the right, put soap in, close cabinet | END