Task: Wash the soap and put it in a cabinet under the sink

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          0.900          2.25           0              270            0
   1  SoapBar            -0.207         0.963          4.877          0              0              0              27
   2  SoapBar            -1.430         0.039          4.946          0              0              0              31
   3  Candle             -2.895         0.685          3.191          0              348.434        0              22
   4  SprayBottle        -0.224         1.045          3.223          0              270            0              41
   5  SoapBottle         -3.713         0.546          0.925          0              90             0              37
   6  SoapBottle         -3.597         0.546          0.557          0              90             0              37
   7  Towel              -1.719         1.228          1.846          0              0              0              34
   8  Candle             -3.761         0.685          3.881          0              270            0              22
   9  SoapBottle         -0.194         1.049          3.092          0              270            0              41
  10  HandTowel          -2.093         1.442          5.107          0              0              0              38
  11  Towel              -0.181         1.419          2.425          0              270            0              35
  12  SoapBar            -2.928         0.676          2.901          0              348.434        0              22
  13  ToiletPaper        -0.188         1.036          3.374          0              0              0              41
  14  TissueBox          -1.095         0.964          4.668          0              0              0              27
  15  Cloth              -3.770         0.541          0.741          0              90             0              37
  16  ToiletPaper        -1.179         0.036          5.065          0              0              0              31
  17  SprayBottle        -0.344         0.040          4.946          0              0              0              21
  18  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  19  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  20  BathtubBasin       -3.404         0.166          2.904          0              0              0
  21  Cabinet            -0.124         0.364          4.634          0              0              0
  22  Bathtub            -2.896         0.667          2.860          0              0              0
  23  Faucet             -3.475         0.711          3.811          0              0              0
  24  ShowerGlass        0.0            0.0            0.0            0              0              0
  25  ShowerDoor         -0.282         1.228          1.730          0              0              0
  26  Faucet             -1.524         1.047          5.096          0              180            0
  27  CounterTop         -1.023         0.954          4.884          0              0              0
  28  Mirror             -0.975         1.577          5.145          0              0              0
  29  Cabinet            -1.962         0.364          4.634          0              0              0
  30  Cabinet            -1.027         0.364          4.634          0              0              0
  31  Cabinet            -1.059         0.364          4.634          0              0              0
  32  Window             -1.993         1.888          0.144          0              0              0
  33  LightSwitch        -2.496         1.366          5.146          0              180            0
  34  TowelHolder        -1.720         1.213          1.740          0              0              0
  35  TowelHolder        -0.074         1.404          2.424          0              270            0
  36  GarbageCan         -2.346         0.002          4.878          0              180            0
  37  Shelf              -3.713         0.531          0.951          0              90             0
  38  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  39  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  40  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  41  Toilet             -0.517         -0.000         3.220          0              0              0
  42  ShowerHead         -0.182         1.256          0.875          0              0              0
  43  SinkBasin          -0.569         0.986          4.886          0              180            0
  44  Sink               -0.579         0.926          4.874          0              180            0
  45  Sink               -1.524         0.926          4.874          0              180            0
  46  SinkBasin          -1.514         0.986          4.886          0              180            0
  47  Faucet             -0.583         1.047          5.096          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Go to the sink | STEP 2: Pick up the pink soap to the right of the sink | STEP 3: Put the soap in the sink, turn on the water, drain the sink and pick up the soap | STEP 4: Turn left in a full circle | STEP 5: Open the bottom right cabinet drawer under the sink and put the soap on the left front side. | END