Task: Put a wet bar of soap under 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              -1.25          0.909          2.5            0              270            0
   1  Cloth              -0.386         1.109          3.060          0              0              0              24
   2  SoapBar            -0.756         0.054          3.156          0              0              0              28
   3  Candle             -3.120         0.597          1.467          0              0              0              38
   4  DishSponge         -1.337         1.106          3.060          0              0              0              24
   5  DishSponge         -1.187         0.600          1.110          0              0              0              27
   6  ToiletPaper        -0.070         0.871          0.377          0              0              90             42
   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            -0.145         0.071          3.280          0              270            0              39
  10  ToiletPaper        -1.964         0.596          1.072          0              0              0              27
  11  SoapBottle         -0.560         1.073          0.302          0              0              0              43
  12  ToiletPaper        -0.417         0.051          3.088          0              0              0              28
  13  Towel              0.402          1.389          3.359          0              0              0              36
  14  PaperTowelRoll     -0.625         1.177          0.394          0              0              0              43
  15  ScrubBrush         -0.351         0.026          0.353          0              0              0
  16  Cloth              -2.812         0.603          1.384          0              0              0              38
  17  Candle             -1.318         0.598          0.474          0              0              0              27
  18  DishSponge         -1.240         0.600          0.855          0              0              0              27
  19  SprayBottle        -1.361         1.105          3.361          0              0              0              24
  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: Turn to the second sink on your right.  | STEP 2: Pull out the bar of soap from the bottom right cabinet under the right sink.  | STEP 3: Move closer to the sink in front of you.  | STEP 4: Put the bar of soap in the sink and turn the water on, clean the sink, then turn the water off and remove the soap from the sink. | STEP 5: Step back from the sink. | STEP 6: Put the bar of soap back in the bottom, right cabinet, under the sink. | END