Task: wash soap and put away in bathroom 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          0.900          2.5            0              90             0
   1  Cloth              -1.527         0.074          0.213          0              0              0              19
   2  Cloth              -1.786         0.074          0.970          0              0              0              19
   3  SoapBar            -1.075         0.073          0.660          0              315            0              19
   4  SoapBar            -1.764         0.013          2.193          0              0              0              20
   5  SoapBar            -1.462         0.073          0.844          0              0              0              19
   6  Towel              -0.07          1.284          0.106          0              0              0              28
   7  HandTowel          -1.731         1.333          3.961          0              0              0              30
   8  SoapBar            -0.544         0.446          0.163          0              0              0              17
   9  ToiletPaper        -0.089         1.159          3.829          0              0              0              47
  10  ToiletPaper        -1.918         0.763          2.518          0              0              0              18
  11  Cloth              -1.527         0.074          0.465          0              0              0              19
  12  SprayBottle        -1.890         1.045          2.009          0              90             0              36
  13  Candle             0.401          1.164          3.765          0              0              0              38
  14  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  15  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  16  SoapBottle         0.401          1.164          3.861          0              0              0              47
  17  Bathtub            -1.414         -0.002         0.563          0              0              0
  18  CounterTop         -1.799         0.746          3.122          0              0              0
  19  BathtubBasin       -1.613         0.052          0.540          0              0              0
  20  Cabinet            -1.613         0.309          2.493          0              0              0
  21  ShowerDoor         0.527          1.037          2.115          0              0              0
  22  Mirror             -1.993         1.424          3.107          0              0              0
  23  Cabinet            -1.613         0.309          3.754          0              0              0
  24  Faucet             -1.873         0.461          0.641          0              0              0
  25  Sink               -1.834         0.685          2.777          0              90             0
  26  Cabinet            -1.613         0.309          3.105          0              0              0
  27  Cabinet            -1.613         0.309          3.140          0              0              0
  28  TowelHolder        -0.070         1.269          0.0            0              0              0
  29  GarbageCan         0.932          -0.029         3.761          0              0              0
  30  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  31  Window             -1.039         1.393          0.018          90             0              0
  32  Window             -1.986         1.392          0.706          90             90             0
  33  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  34  SinkBasin          -1.795         0.694          2.781          0              90             0
  35  LightSwitch        1.250          1.330          3.621          0              270            0
  36  Toilet             -1.567         -0.000         1.815          0              180            0
  37  Drawer             0.204          0.940          3.807          0              180            0
  38  Dresser            0.204          0.000          3.832          0              180            0
  39  Drawer             0.204          0.160          3.807          0              180            0
  40  Drawer             0.204          0.420          3.807          0              180            0
  41  Drawer             0.204          0.680          3.807          0              180            0
  42  SinkBasin          -1.795         0.694          3.476          0              90             0
  43  Sink               -1.833         0.685          3.472          0              90             0
  44  Faucet             -1.988         0.947          3.472          0              180            0
  45  ShowerHead         0.972          1.222          2.015          0              270            0
  46  Faucet             -1.988         0.947          2.776          0              180            0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn around, walk to face the toilet | STEP 2: pick up the pink bar of soap from the red garbage can | STEP 3: turn right, walk to face the sinks | STEP 4: put the soap in the right sink basin, wash with water, pick up soap from sink basin | STEP 5: back up to face the sinks along with the cabinets underneath sinks | STEP 6: open the third cabinet door from the left, place soap in the bottom of cabinet, close door | END