Task: Place clean soap in the cabinet 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              -2.0           0.909          2.25           0              90             0
   1  SoapBar            -1.187         0.599          1.110          0              0              0              27
   2  SoapBar            -1.284         1.104          3.369          0              0              0              24
   3  DishSponge         -0.418         1.106          3.060          0              0              0              24
   4  DishSponge         -2.812         0.600          1.509          0              0              0              38
   5  SoapBottle         -1.337         1.106          2.983          0              0              0              24
   6  Towel              0.861          1.358          2.855          0              270            0              35
   7  HandTowel          -0.242         1.76           3.427          0              0              0              41
   8  Plunger            -0.219         0.026          0.490          0              0              0
   9  SoapBar            -0.560         1.070          0.271          0              0              0              43
  10  ToiletPaper        -2.297         0.596          1.184          0              0              0              27
  11  SoapBottle         -2.315         1.106          2.905          0              0              0              24
  12  ToiletPaper        -0.494         1.067          0.394          0              0              0              43
  13  Towel              0.402          1.389          3.359          0              0              0              36
  14  PaperTowelRoll     -0.494         1.177          0.302          0              90             0              43
  15  ScrubBrush         -0.351         0.026          0.353          0              0              0
  16  Cloth              -1.444         1.109          3.214          0              0              0              24
  17  Candle             -1.161         0.598          0.601          0              0              0              27
  18  DishSponge         -1.498         1.106          2.983          0              0              0              24
  19  SprayBottle        -0.888         1.072          0.363          0              0              0              43
  20  Window             -3.447         1.593          0.648          0              0              0
  21  Mirror             -1.386         1.595          3.464          0              0              0
  22  SinkBasin          -0.837         0.960          3.091          0              180            0
  23  ShowerDoor         -2.477         1.774          2.386          0              0              0
  24  CounterTop         -1.358         1.094          3.151          0              0              0
  25  Sink               -0.846         0.952          3.144          0              180            0
  26  Cabinet            -1.399         0.425          2.867          0              0              0
  27  Bathtub            -2.234         0.288          0.722          0              0              0
  28  Cabinet            -0.337         0.425          2.867          0              0              0
  29  Cabinet            -1.362         0.425          2.867          0              0              0
  30  Cabinet            -2.423         0.425          2.867          0              0              0
  31  ShowerGlass        -2.895         1.423          2.342          0              0              0
  32  Faucet             -0.853         1.094          3.367          0              180            0
  33  ShowerHead         -2.949         2.154          3.427          0              0              0
  34  Window             -2.190         1.550          0.086          0              0              0
  35  TowelHolder        0.967          1.343          2.855          0              270            0
  36  TowelHolder        0.402          1.375          3.466          0              180            0
  37  BathtubBasin       -2.322         0.096          0.634          0              0              0
  38  Shelf              -2.930         0.589          1.425          0              0              0
  39  GarbageCan         -0.061         -0.001         3.131          0              270            0
  40  LightSwitch        0.968          1.432          1.128          0              270            0
  41  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  42  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  43  Toilet             -0.694         0.026          0.656          0              90             0
  44  Faucet             -1.944         1.094          3.367          0              180            0
  45  Sink               -1.934         0.952          3.144          0              180            0
  46  SinkBasin          -1.926         0.960          3.091          0              180            0
  47  Faucet             -1.342         0.638          0.629          0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Walk forward and turn left to face the counter. | STEP 2: Grab the bar of soap. | STEP 3: Turn right, walk forward, and turn left to face the second sink. | STEP 4: Place the soap in the sink, rinse it off, and pick it back up. | STEP 5: Take a step back and open the cabinet underneath the sink. | STEP 6: Place the soap in the cabinet. | END