Task: Put soap 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              -0.25          0.901          -2.25          0              180            0
   1  SoapBar            -2.617         0.078          -0.411         0              0              0              21
   2  SoapBar            -0.745         1.045          -3.795         0              0              0              31
   3  ToiletPaper        -0.679         1.042          -3.887         0              0              0              31
   4  Towel              -1.051         1.535          -2.887         0              90             0              24
   5  HandTowel          -2.591         1.635          -0.047         0              0              0              26
   6  SoapBar            -2.745         0.921          -1.760         351.180        90             0              30
   7  ToiletPaper        -0.084         0.902          -3.286         0              270            90             31
   8  ToiletPaper        -2.745         0.992          -1.213         0              0              0              18
   9  SoapBottle         -2.87          0.998          -1.249         0              0              0              18
  10  Candle             -2.668         0.080          -0.680         0              0              0              21
  11  ScrubBrush         -1.048         0.000          -3.830         0              0              0              27
  12  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  13  Cloth              -2.770         0.078          -0.573         0              0              0              21
  14  SprayBottle        -1.531         0.061          -0.162         0              180            0              21
  15  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  16  Mirror             -2.947         1.559          -1.194         0              0              0
  17  Cabinet            -2.504         0.400          -2.208         0              0              0
  18  CounterTop         -2.744         0.986          -1.243         0              0              0
  19  Cabinet            -2.504         0.400          -1.238         0              0              0
  20  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  21  Cabinet            -2.508         0.426          -0.290         0              0              0
  22  Sink               -2.907         0.986          -1.761         0              90             0
  23  Cabinet            -2.508         0.426          -1.260         0              0              0
  24  TowelHolder        -1.158         1.521          -2.887         0              90             0
  25  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  26  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  27  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  28  Window             -0.566         1.730          -4.102         90             0              0
  29  LightSwitch        -1.332         1.391          0.001          0              180            0
  30  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  31  Toilet             -0.319         0.000          -3.533         0              90             0
  32  Faucet             -2.907         0.993          -1.761         0              90             0
  33  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  34  Sink               -2.907         0.986          -0.732         0              90             0
  35  Faucet             -2.907         0.993          -0.731         0              90             0
  36  ShowerHead         -2.868         1.219          -3.223         0              180            0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: Turn around, go the sink on the left.  | STEP 2: Pick up the soap on the counter next to the sink.  | STEP 3: Bring the soap to the lower cabinet on the right. | STEP 4: Put the soap in the lower cabinet on the right.  | END