Task: Put soap away in the left cabinet under the left sink.

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           0.900          0.75           0              0              0
   1  Cloth              -1.782         0.068          2.998          0              180            0              25
   2  SoapBar            -1.921         1.044          2.009          0              90             0              35
   3  Candle             -0.500         0.447          0.090          0              0              0              16
   4  SprayBottle        -1.741         0.069          3.647          0              0              0              22
   5  Towel              -0.07          1.284          0.106          0              0              0              27
   6  HandTowel          -1.731         1.333          3.961          0              0              0              29
   7  SoapBar            -0.414         0.446          0.200          0              0              0              16
   8  ToiletPaper        -1.703         0.010          2.22           0              0              0              19
   9  ToiletPaper        0.499          1.159          3.894          0              0              0              46
  10  Cloth              0.204          1.163          3.797          0              0              0              46
  11  SprayBottle        0.008          1.160          3.894          0              0              0              46
  12  Candle             -1.791         0.772          3.073          0              0              0              17
  13  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  14  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  15  SoapBottle         0.008          1.160          3.732          0              0              0              46
  16  Bathtub            -1.414         -0.002         0.563          0              0              0
  17  CounterTop         -1.799         0.746          3.122          0              0              0
  18  BathtubBasin       -1.613         0.052          0.540          0              0              0
  19  Cabinet            -1.613         0.309          2.493          0              0              0
  20  ShowerDoor         0.527          1.037          2.115          0              0              0
  21  Mirror             -1.993         1.424          3.107          0              0              0
  22  Cabinet            -1.613         0.309          3.754          0              0              0
  23  Faucet             -1.873         0.461          0.641          0              0              0
  24  Sink               -1.834         0.685          2.777          0              90             0
  25  Cabinet            -1.613         0.309          3.105          0              0              0
  26  Cabinet            -1.613         0.309          3.140          0              0              0
  27  TowelHolder        -0.070         1.269          0.0            0              0              0
  28  GarbageCan         0.932          -0.029         3.761          0              0              0
  29  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  30  Window             -1.039         1.393          0.018          90             0              0
  31  Window             -1.986         1.392          0.706          90             90             0
  32  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  33  SinkBasin          -1.795         0.694          2.781          0              90             0
  34  LightSwitch        1.250          1.330          3.621          0              270            0
  35  Toilet             -1.567         -0.000         1.815          0              180            0
  36  Drawer             0.204          0.940          3.807          0              180            0
  37  Dresser            0.204          0.000          3.832          0              180            0
  38  Drawer             0.204          0.160          3.807          0              180            0
  39  Drawer             0.204          0.420          3.807          0              180            0
  40  Drawer             0.204          0.680          3.807          0              180            0
  41  SinkBasin          -1.795         0.694          3.476          0              90             0
  42  Sink               -1.833         0.685          3.472          0              90             0
  43  Faucet             -1.988         0.947          3.472          0              180            0
  44  ShowerHead         0.972          1.222          2.015          0              270            0
  45  Faucet             -1.988         0.947          2.776          0              180            0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Move to the white shelf across the room. | STEP 2: Pick up the soap on the shelf.  | STEP 3: Turn left, bring the soap to the left sink.  | STEP 4: Put the soap away in the left cabinet under the left sink.  | END