Task: Putting two bars 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              -1.25          0.901          3.5            0              180            0
   1  SoapBar            -1.912         0.953          1.884          0              180            0              30
   2  SprayBottle        -1.744         0.037          3.316          0              0              0              21
   3  SoapBottle         -1.643         0.041          3.633          0              0              0              24
   4  Candle             -1.965         0.953          1.696          0              180            0              30
   5  HandTowel          -1.670         1.496          3.962          0              0              0              28
   6  SoapBottle         -1.519         0.918          3.097          0              0              0              18
   7  Towel              0.833          1.160          2.357          0              0              0              25
   8  Cloth              -1.694         0.039          3.767          0              270            0              24
   9  SoapBar            -1.831         0.953          2.071          0              180            0              30
  10  ToiletPaper        -1.140         1.013          1.256          0              0              90             26
  11  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  12  SprayBottle        -1.696         0.915          3.172          0              0              0              18
  13  ToiletPaper        -1.476         0.042          1.372          0              0              0              27
  14  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  15  Cabinet            -1.479         0.348          2.362          0              0              0
  16  Cabinet            -1.483         0.372          3.152          0              0              0
  17  Sink               -1.746         0.884          3.553          0              90             0
  18  CounterTop         -1.758         0.669          3.164          0              0              0
  19  Faucet             -1.894         1.006          2.730          0              0              0
  20  Mirror             -1.943         1.532          3.443          0              0              0
  21  Cabinet            -1.479         0.348          3.170          0              0              0
  22  ShowerDoor         0.527          1.039          2.098          0              0              0
  23  Painting           -0.566         1.591          1.173          0              0              0
  24  Cabinet            -1.483         0.372          3.960          0              0              0
  25  TowelHolder        0.833          1.146          2.250          0              0              0
  26  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  27  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  28  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  29  LightSwitch        1.249          1.322          3.635          0              270            0
  30  Toilet             -1.447         0.000          1.961          0              90             0
  31  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  32  ShowerHead         0.871          1.097          2.009          0              270            0
  33  Faucet             -1.894         1.006          3.560          0              0              0
  34  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  35  Sink               -1.746         0.884          2.723          0              90             0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Go to the toilet | STEP 2: Grab a bar of soap from the top of the toilet | STEP 3: Back up from the toilet and look down | STEP 4: Put the soap in the left cabinet | STEP 5: Move forward to the toilet | STEP 6: Grab a bar of soap from the top of the toilet | STEP 7: Back up from the toilet and look down | STEP 8: Put the soap in the left cabinet | END