Task: put a washed soap bar 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              -2.0           0.909          2.0            0              90             0
   1  SoapBar            -1.444         1.104          3.137          0              0              0              25
   2  SprayBottle        -0.757         1.072          0.363          0              0              0              44
   3  Candle             -2.915         0.597          1.342          0              0              0              39
   4  DishSponge         -2.508         0.108          0.634          0              0              0              38
   5  DishSponge         -1.856         0.108          0.364          0              0              0              38
   6  SoapBottle         -2.130         0.601          1.100          0              0              0              28
   7  Towel              0.861          1.358          2.855          0              270            0              36
   8  HandTowel          -0.242         1.76           3.427          0              0              0              42
   9  Plunger            -0.219         0.026          0.490          0              0              0
  10  SoapBar            -0.700         0.054          2.953          0              0              0              29
  11  ToiletPaper        -3.120         0.595          1.509          0              0              0              39
  12  SoapBottle         -0.888         1.073          0.394          0              0              0              44
  13  ToiletPaper        -0.127         0.068          3.185          0              270            0              40
  14  Towel              0.402          1.389          3.359          0              0              0              37
  15  PaperTowelRoll     -0.494         1.177          0.271          0              0              0              44
  16  ScrubBrush         -0.351         0.026          0.353          0              0              0
  17  Cloth              -1.639         0.111          0.544          0              0              0              38
  18  Candle             -3.222         0.597          1.509          0              0              0              39
  19  DishSponge         -2.073         0.108          0.544          0              0              0              38
  20  SprayBottle        -0.418         1.105          3.137          0              0              0              25
  21  Window             -3.447         1.593          0.648          0              0              0
  22  Mirror             -1.386         1.595          3.464          0              0              0
  23  SinkBasin          -0.837         0.960          3.091          0              180            0
  24  ShowerDoor         -2.477         1.774          2.386          0              0              0
  25  CounterTop         -1.358         1.094          3.151          0              0              0
  26  Sink               -0.846         0.952          3.144          0              180            0
  27  Cabinet            -1.399         0.425          2.867          0              0              0
  28  Bathtub            -2.234         0.288          0.722          0              0              0
  29  Cabinet            -0.337         0.425          2.867          0              0              0
  30  Cabinet            -1.362         0.425          2.867          0              0              0
  31  Cabinet            -2.423         0.425          2.867          0              0              0
  32  ShowerGlass        -2.895         1.423          2.342          0              0              0
  33  Faucet             -0.853         1.094          3.367          0              180            0
  34  ShowerHead         -2.949         2.154          3.427          0              0              0
  35  Window             -2.190         1.550          0.086          0              0              0
  36  TowelHolder        0.967          1.343          2.855          0              270            0
  37  TowelHolder        0.402          1.375          3.466          0              180            0
  38  BathtubBasin       -2.322         0.096          0.634          0              0              0
  39  Shelf              -2.930         0.589          1.425          0              0              0
  40  GarbageCan         -0.061         -0.001         3.131          0              270            0
  41  LightSwitch        0.968          1.432          1.128          0              270            0
  42  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  43  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  44  Toilet             -0.694         0.026          0.656          0              90             0
  45  Faucet             -1.944         1.094          3.367          0              180            0
  46  Sink               -1.934         0.952          3.144          0              180            0
  47  SinkBasin          -1.926         0.960          3.091          0              180            0
  48  Faucet             -1.342         0.638          0.629          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn to face the bathroom sinks | STEP 2: pick up the pink soap bar on the counter between the two sinks | STEP 3: walk to face the right most sink | STEP 4: put soap into sink basin, wash soap, pick up soap | STEP 5: back up slightly to face the cabinets underneath the right most sink | STEP 6: open the right cabinet door under the sink, put soap to the left of the other soap there, close the door | END