Task: Place the soaps in the 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          0.901          -2.0           0              90             0
   1  Cloth              -2.719         0.079          -1.062         0              0              0              21
   2  Candle             -2.719         0.080          -0.465         0              0              0              23
   3  Candle             -2.745         0.996          -1.177         0              0              0              20
   4  SoapBar            -2.682         0.995          -1.285         0              0              0              20
   5  SoapBottle         -1.446         0.063          -0.162         0              180            0              23
   6  Towel              -1.051         1.535          -2.887         0              90             0              26
   7  HandTowel          -2.591         1.635          -0.047         0              0              0              28
   8  SoapBar            -0.745         1.045          -3.826         0              0              0              33
   9  ToiletPaper        -2.668         0.075          -1.435         0              0              0              25
  10  ToiletPaper        -0.084         0.902          -3.286         0              270            90             33
  11  SoapBottle         -0.614         1.048          -3.856         0              270            0              33
  12  Candle             -2.872         0.080          -0.411         0              0              0              23
  13  ScrubBrush         -1.048         0.000          -3.830         0              0              0              29
  14  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  15  Cloth              -2.770         0.079          -1.925         0              0              0              19
  16  SprayBottle        -2.821         0.080          -0.955         0              0              0              21
  17  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  18  Mirror             -2.947         1.559          -1.194         0              0              0
  19  Cabinet            -2.504         0.400          -2.208         0              0              0
  20  CounterTop         -2.744         0.986          -1.243         0              0              0
  21  Cabinet            -2.504         0.400          -1.238         0              0              0
  22  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  23  Cabinet            -2.508         0.426          -0.290         0              0              0
  24  Sink               -2.907         0.986          -1.761         0              90             0
  25  Cabinet            -2.508         0.426          -1.260         0              0              0
  26  TowelHolder        -1.158         1.521          -2.887         0              90             0
  27  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  28  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  29  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  30  Window             -0.566         1.730          -4.102         90             0              0
  31  LightSwitch        -1.332         1.391          0.001          0              180            0
  32  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  33  Toilet             -0.319         0.000          -3.533         0              90             0
  34  Faucet             -2.907         0.993          -1.761         0              90             0
  35  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  36  Sink               -2.907         0.986          -0.732         0              90             0
  37  Faucet             -2.907         0.993          -0.731         0              90             0
  38  ShowerHead         -2.868         1.219          -3.223         0              180            0
  39  EastWall
  40  EastWall
  41  SouthWall

Plan:
STEP 1: Turn to the right and face the toilet. | STEP 2: Pick up the soap on top of the toilet. | STEP 3: Turn the left and face the sink on top of the cabinet. | STEP 4: Place the soap in the cabinet under the sink . | STEP 5: Turn to the right and face the trash can. | STEP 6: Pick up the soap from the trash can. | STEP 7: Turn to the left and face the cabinet under the sink. | STEP 8: Place the soap in the cabinet under the sink. | END