Task: Put a clean bar of soap 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              -2.75          0.900          1.0            0              90             0
   1  Cloth              -3.511         0.219          0.941          0              0              0              42
   2  TissueBox          -2.165         0.109          2.146          0              0              0              23
   3  SoapBar            -0.279         0.027          0.179          0              0              0              44
   4  SoapBar            -2.326         0.812          0.408          0              0              0              27
   5  Candle             -1.920         0.124          0.314          0              0              0              21
   6  Candle             -0.675         0.860          0.374          0              270            0              22
   7  SoapBottle         -2.206         0.127          0.163          0              0              0              21
   8  ToiletPaper        -0.229         0.024          0.240          0              0              0              44
   9  HandTowel          -1.296         1.765          0.040          0              180            0              39
  10  SoapBar            -0.318         0.952          2.669          0              270            0              41
  11  ToiletPaper        -3.079         0.686          1.730          0              0              0              26
  12  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  13  Candle             -2.031         0.108          2.282          0              0              0              23
  14  TissueBox          -2.042         0.846          2.236          0              0              0              25
  15  ToiletPaper        -0.256         0.950          2.642          0              270            0              41
  16  SoapBottle         -0.858         0.121          0.410          0              0              0              24
  17  SprayBottle        -2.111         0.125          0.213          0              0              0              21
  18  Towel              -2.760         1.569          0.107          0              0              0              36
  19  Cloth              -0.872         1.134          0.169          0              0              0              33
  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 to the right and face the sink. | STEP 2: Pick the bar of soap up from the counter to the right side of the sink. | STEP 3: Move the the left and turn to face the left side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap back up. | STEP 5: Back up and face the tall white cabinet to the left of the sink. | STEP 6: Open the lower cabinet and put the soap inside and shut the door. | END