Task: Putting a plate with a bar of soap on it 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           -1.75          0.901          -1.75          0              0              0
   1  Pan             -0.650         0.912          -3.655         0              0              0              46
   2  Potato          -0.243         0.957          -3.878         0              0              0              46
   3  DishSponge      -0.471         0.745          -0.912         0              0              0              72
   4  DishSponge      -2.721         0.713          -0.439         0              225            0              90
   5  ButterKnife     -3.393         0.913          -3.327         0              0              0              46
   6  ButterKnife     -3.140         0.913          -2.825         0              0              0              46
   7  Spoon           -0.530         0.748          -1.331         0              90             0              69
   8  Spoon           -2.740         0.714          -0.211         0              90             0              90
   9  Fork            -2.439         0.717          -0.433         0              270            0              90
  10  Fork            -0.419         0.916          -0.507         0              0              0              73
  11  Egg             -1.914         0.826          -3.832         0              0              0              88
  12  Cup             -3.324         1.868          -2.566         0              0              0              55
  13  Plate           -3.182         0.639          -2.125         0              90             0              87
  14  Plate           -3.182         1.397          -2.125         0              90             0              87
  15  Plate           -2.803         0.711          -0.922         0              0              0              90
  16  Knife           -0.412         0.778          -2.913         0              270            0              76
  17  Knife           -1.551         0.946          -3.522         0              0              0              46
  18  SoapBottle      -0.450         0.080          -2.910         0              0              0              57
  19  SoapBottle      -0.095         0.915          -1.616         0              0              0              73
  20  Bowl            -0.127         1.010          -0.900         0              270            0              83
  21  Bowl            -1.058         0.911          -3.952         0              0              0              46
  22  SaltShaker      -2.564         0.710          -0.797         0              135            0              90
  23  PepperShaker    -1.431         0.079          -3.673         0              0              0              62
  24  Apple           -3.036         0.929          -2.531         0              90             0              87
  25  Pot             -0.376         0.975          -2.031         0              180            0              75
  26  Egg             -3.286         0.677          -2.002         0              90             0              87
  27  Cup             -1.152         1.293          -3.849         0              0              0              60
  28  Bread           -2.723         0.754          -0.621         0              270            0              90
  29  Fork            -0.530         0.746          -2.913         0              90             0              76
  30  Pan             -0.176         0.914          -1.432         0              90             0              73
  31  Potato          -3.255         0.757          -0.709         0              225            0              90
  32  Lettuce         -1.324         0.988          -3.759         1.468          253.690        356.730        46
  33  Tomato          -0.039         0.963          -3.804         0              0              0              46
  34  Apple           -3.199         0.756          -0.564         0              225            0              90
  35  SoapBottle      -3.140         0.913          -3.026         0              0              0              46
  36  Spatula         -3.169         0.761          -3.078         0              90             0              68
  37  SaltShaker      -0.382         0.743          -1.641         0              0              0              69
  38  Knife           -0.382         0.778          -0.609         0              270            0              72
  39  PepperShaker    -0.095         0.912          -0.507         0              0              0              73
  40  ButterKnife     -2.449         0.913          -3.804         0              0              0              46
  41  Plate           -3.130         1.397          -1.879         0              90             0              87
  42  DishSponge      -2.431         0.713          -0.665         0              135            0              90
  43  Spoon           -0.382         0.747          -2.968         0              90             0              76
  44  Mug             -2.930         0.762          -0.358         0              135            0              86
  45  Bowl            -3.022         0.711          -0.741         0              225            0              90
  46  CounterTop      -1.789         0.949          -3.803         0              0              0
  47  Cabinet         -0.577         0.388          -3.476         0              0              0
  48  Cabinet         -0.605         0.388          -3.511         0              0              0
  49  Cabinet         -2.976         0.388          -3.201         0              0              0
  50  Cabinet         -0.577         0.388          -0.447         0              0              0
  51  Cabinet         -0.577         0.388          -1.725         0              0              0
  52  Cabinet         -0.226         1.803          -1.743         0              0              0
  53  Cabinet         -0.228         1.799          -0.447         0              0              0
  54  Cabinet         -6.010         1.139          -6.019         0              0              0
  55  Cabinet         -3.022         2.098          -2.681         0              0              0
  56  Cabinet         -3.022         2.098          -1.743         0              0              0
  57  Cabinet         -0.577         0.388          -2.736         0              0              0
  58  Cabinet         -3.232         1.803          -3.343         0              0              0
  59  Cabinet         -2.811         1.810          -3.764         0              0              0
  60  Cabinet         -1.233         1.810          -3.764         0              0              0
  61  Cabinet         -1.364         0.388          -3.511         0              0              0
  62  Cabinet         -1.380         0.388          -3.511         0              0              0
  63  Cabinet         -0.226         1.803          -2.725         0              0              0
  64  Cabinet         -0.236         2.098          -1.767         0              0              0
  65  Cabinet         -0.236         2.098          -2.705         0              0              0
  66  Cabinet         -0.193         1.210          -4.239         0              0              0
  67  Cabinet         -2.148         0.388          -3.511         0              0              0
  68  Drawer          -3.104         0.797          -2.968         0              0              0
  69  Drawer          -0.449         0.797          -1.410         0              0              0
  70  Sink            -1.786         0.902          -3.748         0              0              0
  71  StoveBurner     -0.376         0.936          -2.451         0              0              0
  72  Drawer          -0.449         0.797          -0.762         0              0              0
  73  CounterTop      -0.268         0.951          -1.089         0              0              0
  74  Drawer          -0.449         0.797          -3.348         0              0              0
  75  StoveBurner     -0.376         0.936          -2.031         0              180            0
  76  Drawer          -0.449         0.797          -2.968         0              0              0
  77  StoveBurner     -0.165         0.936          -2.030         0              180            0
  78  StoveBurner     -0.165         0.936          -2.450         0              0              0
  79  StoveKnob       -0.568         0.903          -2.313         45             270            0
  80  StoveKnob       -0.568         0.903          -2.470         45             270            0
  81  StoveKnob       -0.568         0.903          -2.166         45             270            0
  82  StoveKnob       -0.568         0.903          -2.003         45             270            0
  83  Microwave       -0.143         0.903          -0.908         0              270            0
  84  LightSwitch     -1.108         1.457          0.338          0              180            0
  85  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  86  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  87  Fridge          -3.188         0.0            -2.184         0              0              0
  88  SinkBasin       -1.786         0.779          -3.747         0              0              0
  89  Toaster         -0.230         0.903          -3.406         0              270            0
  90  DiningTable     -2.800         0.003          -0.505         0              0              0
  91  Chair           -3.044         0.003          -1.223         0              32.194         0
  92  Faucet          -1.791         1.136          -3.913         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Go straight and stop at the round table on the left | STEP 2: Grab a bar of soap off of the table | STEP 3: Turn left and go to the other side of the round table | STEP 4: Put the soap on the plate | STEP 5: Grab the plate off of the table | STEP 6: Turn right and face the cabinets on the bottom | STEP 7: Put the plate in the second cabinet from the bottom | END