Task: Put a wet bar of soap in the cupboard.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.900          0.75           0              270            0
   1  TissueBox          -1.730         0.518          0.363          0              0              0              21
   2  TissueBox          -0.858         1.654          0.361          0              0              0              32
   3  SoapBar            -0.858         0.118          0.262          0              0              0              24
   4  SoapBar            -3.511         0.219          1.268          0              0              0              42
   5  SoapBar            -0.279         0.026          0.240          0              0              0              44
   6  Candle             -2.089         1.104          2.329          0              0              0              34
   7  Candle             -2.031         0.108          2.146          0              0              0              23
   8  SprayBottle        -0.318         0.954          2.696          0              270            0              41
   9  HandTowel          -1.296         1.765          0.040          0              180            0              39
  10  SoapBar            -3.053         0.689          0.764          0              0              0              26
  11  ToiletPaper        -2.071         1.297          2.236          0              0              0              35
  12  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  13  Candle             -2.140         0.846          2.051          0              0              0              25
  14  TissueBox          -0.812         1.134          0.407          0              0              0              33
  15  ToiletPaper        -0.443         0.950          2.642          0              270            0              41
  16  SoapBottle         -2.085         1.586          2.144          0              0              0              31
  17  SprayBottle        -0.858         1.655          0.212          0              0              0              32
  18  Towel              -2.760         1.569          0.107          0              0              0              36
  19  Cloth              -1.779         0.850          0.276          0              0              0              43
  20  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  21  Cabinet            -2.344         0.457          0.524          0              0              0
  22  Drawer             -0.813         0.956          0.384          0              270            0
  23  Cabinet            -1.891         0.443          1.982          0              0              0
  24  Cabinet            -0.605         0.457          0.524          0              0              0
  25  Drawer             -2.032         0.942          2.190          0              0              0
  26  Bathtub            -3.450         0.178          1.029          0              0              0
  27  CounterTop         -1.919         0.0            0.288          0              0              0
  28  Sink               -1.924         0.772          0.326          0              0              0
  29  Mirror             -1.934         1.666          0.107          0              0              0
  30  Faucet             -1.925         0.958          0.179          0              0              0
  31  Cabinet            -1.891         1.884          2.391          0              0              0
  32  Cabinet            -0.605         1.988          0.524          0              0              0
  33  CounterTop         -0.812         0.093          0.288          0              0              0
  34  Shelf              -2.029         1.183          2.189          0              0              0
  35  Shelf              -2.123         1.393          2.189          0              0              0
  36  TowelHolder        -2.760         1.555          0.000          0              0              0
  37  LightSwitch        0.0            1.427          1.993          0              270            0
  38  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  39  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  40  Window             -4.149         1.717          1.154          90             270            0
  41  Toilet             -0.456         -0.000         2.257          0              180            0
  42  BathtubBasin       -3.520         0.210          0.940          0              0              0
  43  SinkBasin          -1.931         0.841          0.320          0              0              0
  44  GarbageCan         -0.257         -0.000         0.259          0              0              0
  45  ShowerHead         -3.522         1.719          1.776          0              0              0
  46  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  47  NorthWall
  48  SouthWall
  49  SouthWall

Plan:
STEP 1: Turn around and walk to the wall then turn right. | STEP 2: Pick up the bar of soap that's in front of you in the garbage can. | STEP 3: Turn right and walk to the sink. | STEP 4: Get the soap wet in the sink and then pick it back up and shut off the water. | STEP 5: Back up a step so you can use the cupboard under the sink. | STEP 6: Open the cupboard under the sink and put the bar of soap under and to the right of the soap there already and then close the door. | END