Task: Put the cleaned soap bar in the cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.901          -1.25          0              0              0
   1  SoapBar            -2.387         0.066          -2.906         0              0              0              17
   2  Candle             -2.796         0.815          -3.532         0              0              0              24
   3  Candle             -2.538         0.075          -3.755         0              0              0              22
   4  SoapBottle         -2.796         0.808          -3.707         0              0              0              24
   5  HandTowel          -2.962         1.584          -3.550         0              270            0              27
   6  Candle             -2.708         0.815          -2.525         0              0              0              24
   7  Cloth              -2.538         0.066          -3.081         0              0              0              17
   8  HandTowel          -2.962         1.584          -2.569         0              270            0              28
   9  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  10  SoapBar            -2.764         0.065          -2.552         0              0              0              21
  11  ToiletPaper        -0.365         0.054          -3.86          0              0              0              31
  12  ToiletPaper        -0.068         1.042          -2.983         0              270            0              33
  13  Towel              -1.291         1.386          -0.63          0              270            0              25
  14  SoapBottle         -2.839         0.068          -2.906         0              0              0              17
  15  SprayBottle        -0.190         1.046          -2.917         0              270            0              33
  16  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  17  Cabinet            -2.293         0.324          -3.254         0              0              0
  18  Mirror             -3.0           1.659          -3.069         0              0              0
  19  Sink               -2.661         0.785          -3.069         0              90             0
  20  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  21  Cabinet            -2.299         0.345          -2.250         0              0              0
  22  Cabinet            -2.293         0.324          -3.814         0              0              0
  23  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  24  CounterTop         -2.632         0.843          -3.040         0              0              0
  25  TowelHolder        -1.184         1.371          -0.629         0              270            0
  26  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  27  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  28  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  29  Window             -0.567         1.706          -4.002         90             0              0
  30  SinkBasin          -2.669         0.863          -3.063         0              90             0
  31  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  32  LightSwitch        -1.945         1.503          0.000          0              180            0
  33  Toilet             -0.452         0.000          -3.052         0              0              0
  34  Faucet             -3.0           1.167          -3.073         0              180            0
  35  ShowerHead         -0.614         1.934          -0.013         0              0              0
  36  EastWall
  37  EastWall
  38  SouthWall

Plan:
STEP 1: Turn around and walk over to the bathroom sink | STEP 2: Open the cabinet directly below the sink and pick up the bar of soap | STEP 3: Look up and put the soap bar in the sink | STEP 4: Rinse the soap under running water in the sink and remove it | STEP 5: Walk a few feet away from the sink then turn back toward it | STEP 6: Open the bottom left cabinet cabinet and put the soap bar in it | END