Task: Put a washed bar of soap in the cupboard under the sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          1.75           0              0              0
   1  Cloth              -1.439         0.067          2.391          0              0              0              23
   2  SoapBar            -1.322         0.068          3.743          0              0              0              29
   3  Candle             -1.322         0.068          3.894          0              0              0              29
   4  Candle             -1.561         0.068          2.706          0              0              0              21
   5  SprayBottle        0.258          0.048          3.838          0              0              0              31
   6  SoapBottle         -1.382         0.068          3.642          0              0              0              29
   7  SoapBottle         -1.219         0.993          2.863          0              0              0              28
   8  Towel              -0.200         1.174          1.286          0              0              0              30
   9  HandTowel          -1.275         1.6            3.961          0              0              0              32
  10  SoapBar            -1.382         0.068          2.857          0              0              0              21
  11  ToiletPaper        -1.416         0.991          2.239          0              0              0              28
  12  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  13  Candle             -1.382         0.068          2.757          0              0              0              21
  14  TissueBox          -1.416         0.994          2.982          0              0              0              28
  15  SoapBottle         -1.284         0.993          2.269          0              0              0              28
  16  ToiletPaper        0.356          0.809          1.299          0              270            270            36
  17  SprayBottle        -1.620         0.068          3.377          0              0              0              27
  18  Cloth              -1.501         0.068          3.693          0              0              0              29
  19  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  20  Mirror             -1.703         1.661          3.509          0              0              0
  21  Cabinet            -1.187         0.394          3.030          0              0              0
  22  ShowerDoor         -1.631         1.014          1.170          0              0              0
  23  Cabinet            -1.187         0.394          2.127          0              0              0
  24  Sink               -1.326         0.960          2.567          0              90             0
  25  ShowerGlass        0.254          0.788          0.485          0              0              0
  26  Mirror             -1.703         1.661          2.480          0              0              0
  27  Cabinet            -1.187         0.394          3.063          0              0              0
  28  CounterTop         -1.348         0.972          2.945          0              0              0
  29  Cabinet            -1.187         0.394          3.966          0              0              0
  30  TowelHolder        -0.200         1.160          1.179          0              0              0
  31  GarbageCan         0.209          0.000          3.772          0              0              0
  32  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  33  Window             -0.726         1.667          -0.009         90             0              0
  34  Toilet             -0.039         0.090          1.733          0              270            0
  35  SinkBasin          -1.317         0.998          2.567          0              90             0
  36  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  37  LightSwitch        0.444          1.368          3.323          0              270            0
  38  Faucet             -1.587         0.960          3.513          0              90             0
  39  ShowerHead         -1.618         1.251          0.558          0              180            0
  40  Sink               -1.325         0.960          3.512          0              90             0
  41  SinkBasin          -1.317         0.998          3.513          0              90             0
  42  Faucet             -1.587         0.960          2.569          0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Head to the wall then turn left and go to the sink | STEP 2: Get the bar of soap from the cupboard on the right under the sink | STEP 3: Get closer to the sink | STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap | STEP 5: Turn around and go to the wall, then turn back around facing the sink | STEP 6: Put the soap in the cupboard on the right under the sink | END