Task: Move a clean bar of soap to the bathroom cupboard

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.900          1.75           0              90             0
   1  Cloth              -1.786         0.074          0.844          0              0              0              20
   2  SoapBar            -0.370         0.446          0.200          0              0              0              18
   3  SoapBar            -1.734         0.016          2.273          0              0              0              21
   4  SoapBar            -0.457         0.446          0.236          0              0              0              18
   5  SoapBottle         -1.907         0.069          3.355          0              90             0              28
   6  ToiletPaper        0.422          0.348          3.815          0              0              0              41
   7  Towel              -0.07          1.284          0.106          0              0              0              29
   8  HandTowel          -1.731         1.333          3.961          0              0              0              31
   9  SoapBar            -1.860         1.044          2.009          0              90             0              37
  10  ToiletPaper        -1.782         0.064          3.540          0              0              0              24
  11  ToiletPaper        -1.831         0.584          2.390          0              180            90             34
  12  Cloth              -1.741         0.068          2.998          0              180            0              27
  13  SprayBottle        0.204          1.160          3.765          0              0              0              48
  14  Candle             -0.544         0.447          0.126          0              0              0              18
  15  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  16  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  17  SoapBottle         -1.921         1.046          1.943          0              90             0              37
  18  Bathtub            -1.414         -0.002         0.563          0              0              0
  19  CounterTop         -1.799         0.746          3.122          0              0              0
  20  BathtubBasin       -1.613         0.052          0.540          0              0              0
  21  Cabinet            -1.613         0.309          2.493          0              0              0
  22  ShowerDoor         0.527          1.037          2.115          0              0              0
  23  Mirror             -1.993         1.424          3.107          0              0              0
  24  Cabinet            -1.613         0.309          3.754          0              0              0
  25  Faucet             -1.873         0.461          0.641          0              0              0
  26  Sink               -1.834         0.685          2.777          0              90             0
  27  Cabinet            -1.613         0.309          3.105          0              0              0
  28  Cabinet            -1.613         0.309          3.140          0              0              0
  29  TowelHolder        -0.070         1.269          0.0            0              0              0
  30  GarbageCan         0.932          -0.029         3.761          0              0              0
  31  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  32  Window             -1.039         1.393          0.018          90             0              0
  33  Window             -1.986         1.392          0.706          90             90             0
  34  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  35  SinkBasin          -1.795         0.694          2.781          0              90             0
  36  LightSwitch        1.250          1.330          3.621          0              270            0
  37  Toilet             -1.567         -0.000         1.815          0              180            0
  38  Drawer             0.204          0.940          3.807          0              180            0
  39  Dresser            0.204          0.000          3.832          0              180            0
  40  Drawer             0.204          0.160          3.807          0              180            0
  41  Drawer             0.204          0.420          3.807          0              180            0
  42  Drawer             0.204          0.680          3.807          0              180            0
  43  SinkBasin          -1.795         0.694          3.476          0              90             0
  44  Sink               -1.833         0.685          3.472          0              90             0
  45  Faucet             -1.988         0.947          3.472          0              180            0
  46  ShowerHead         0.972          1.222          2.015          0              270            0
  47  Faucet             -1.988         0.947          2.776          0              180            0
  48
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move to the opposite side of the room facing the red trash bin on the floor to the right of the toilet | STEP 2: Pick up the soap inside of the trash bin | STEP 3: Move to the right facing the bathroom sink on the left side, wash the soap | STEP 4: Move back to the cupboard under the sink | STEP 5: Place the soap inside of the cupboard under the sink | END