Task: Put the soap in the right cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.901          -1.0           0              90             0
   1  Cloth              -0.614         1.045          -3.856         0              0              0              35
   2  Cloth              -2.668         0.078          -1.489         0              0              0              27
   3  Candle             -2.550         0.996          -0.336         0              0              0              22
   4  Candle             -0.745         1.046          -3.948         0              0              0              35
   5  SoapBar            -2.770         0.079          -2.140         0              0              0              21
   6  SprayBottle        -2.821         0.080          -1.116         0              0              0              23
   7  SprayBottle        -2.931         0.996          -2.203         0              0              0              22
   8  Towel              -1.051         1.535          -2.887         0              90             0              28
   9  HandTowel          -2.591         1.635          -0.047         0              0              0              30
  10  SoapBar            -1.489         0.060          -0.186         0              180            0              25
  11  ToiletPaper        -0.084         0.902          -3.286         0              270            90             35
  12  ToiletPaper        -2.618         0.076          -1.116         0              0              0              23
  13  SoapBottle         -2.62          0.998          -1.177         0              0              0              22
  14  Candle             -2.719         0.080          -1.170         0              0              0              23
  15  ScrubBrush         -1.048         0.000          -3.830         0              0              0              31
  16  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  17  Cloth              -2.770         0.079          -0.955         0              0              0              23
  18  SprayBottle        -2.807         0.996          -1.249         0              0              0              22
  19  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  20  Mirror             -2.947         1.559          -1.194         0              0              0
  21  Cabinet            -2.504         0.400          -2.208         0              0              0
  22  CounterTop         -2.744         0.986          -1.243         0              0              0
  23  Cabinet            -2.504         0.400          -1.238         0              0              0
  24  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  25  Cabinet            -2.508         0.426          -0.290         0              0              0
  26  Sink               -2.907         0.986          -1.761         0              90             0
  27  Cabinet            -2.508         0.426          -1.260         0              0              0
  28  TowelHolder        -1.158         1.521          -2.887         0              90             0
  29  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  30  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  31  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  32  Window             -0.566         1.730          -4.102         90             0              0
  33  LightSwitch        -1.332         1.391          0.001          0              180            0
  34  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  35  Toilet             -0.319         0.000          -3.533         0              90             0
  36  Faucet             -2.907         0.993          -1.761         0              90             0
  37  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  38  Sink               -2.907         0.986          -0.732         0              90             0
  39  Faucet             -2.907         0.993          -0.731         0              90             0
  40  ShowerHead         -2.868         1.219          -3.223         0              180            0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: Turn around and face the counter. | STEP 2: Pick up the bottle of soap. | STEP 3: Move to your right. | STEP 4: Open the rightmost cabinet and put the soap inside. | END