Task: put two bars of soap into 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              -0.5           0.901          2.0            0              270            0
   1  SoapBar            -1.637         0.918          3.122          0              0              0              20
   2  SoapBar            -1.652         0.947          3.453          0              0              10.090         33
   3  Candle             -1.519         0.917          3.919          0              0              0              20
   4  SprayBottle        -1.694         0.037          2.870          0              0              0              18
   5  SoapBottle         -1.643         0.041          3.900          0              90             0              26
   6  Candle             -1.938         0.953          2.009          0              180            0              32
   7  HandTowel          -1.670         1.496          3.962          0              0              0              30
   8  SoapBottle         -1.938         0.953          1.821          0              90             0              32
   9  Towel              0.833          1.160          2.357          0              0              0              27
  10  Cloth              -1.694         0.039          3.767          0              90             0              26
  11  SoapBar            -1.831         0.953          1.821          0              180            0              32
  12  ToiletPaper        -1.795         0.037          2.641          0              0              0              17
  13  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  14  SprayBottle        -1.814         0.915          3.122          0              0              0              20
  15  ToiletPaper        -1.593         0.037          3.048          0              0              0              18
  16  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  17  Cabinet            -1.479         0.348          2.362          0              0              0
  18  Cabinet            -1.483         0.372          3.152          0              0              0
  19  Sink               -1.746         0.884          3.553          0              90             0
  20  CounterTop         -1.758         0.669          3.164          0              0              0
  21  Faucet             -1.894         1.006          2.730          0              0              0
  22  Mirror             -1.943         1.532          3.443          0              0              0
  23  Cabinet            -1.479         0.348          3.170          0              0              0
  24  ShowerDoor         0.527          1.039          2.098          0              0              0
  25  Painting           -0.566         1.591          1.173          0              0              0
  26  Cabinet            -1.483         0.372          3.960          0              0              0
  27  TowelHolder        0.833          1.146          2.250          0              0              0
  28  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  29  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  30  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  31  LightSwitch        1.249          1.322          3.635          0              270            0
  32  Toilet             -1.447         0.000          1.961          0              90             0
  33  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  34  ShowerHead         0.871          1.097          2.009          0              270            0
  35  Faucet             -1.894         1.006          3.560          0              0              0
  36  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  37  Sink               -1.746         0.884          2.723          0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: walk to face sink on the right | STEP 2: pick up soap bar from sink | STEP 3: walk back from sink to face cabinets under sink | STEP 4: put soap bar in bottom right cabinet | STEP 5: walk forward to face both sinks | STEP 6: pick up soap bar between the sinks | STEP 7: step back to face sink cabinets | STEP 8: put soap into bottom right cabinet | END