Task: Put a clean bar of soap on 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              -1.25          0.900          -1.0           0              270            0
   1  TissueBox          -1.454         0.818          -0.193         0              0              0              30
   2  Candle             0.852          0.817          -1.874         0              90             0              32
   3  SoapBar            -1.656         0.818          -0.080         0              0              0              30
   4  SprayBottle        0.739          0.815          -1.874         0              90             0              32
   5  ToiletPaper        -1.555         0.815          -0.137         0              0              0              30
   6  SoapBottle         -1.252         0.821          -0.108         0              0              0              30
   7  Cloth              -1.751         0.042          -3.542         0              270            0              28
   8  Candle             -1.353         0.817          -0.052         0              0              0              30
   9  HandTowel          -2.166         1.500          -0.037         0              0              0              23
  10  Towel              -1.525         1.685          -0.105         0              180            0              21
  11  SoapBar            0.867          0.818          -0.825         0              90             0              31
  12  ToiletPaper        0.405          0.729          -3.885         0              0              270            29
  13  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  14  SprayBottle        0.852          0.815          -1.773         0              90             0              32
  15  TissueBox          0.832          0.809          -0.358         0              266.215        0              31
  16  ToiletPaper        -0.070         0.949          -3.901         0              90             0              26
  17  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  18  Sink               -2.171         0.294          -0.660         0              90             0
  19  Bathtub            -2.122         -0.088         -3.116         0              0              0
  20  Mirror             -2.503         1.423          -0.703         0              0              0
  21  TowelHolder        -1.524         1.671          0.001          0              180            0
  22  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  23  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  24  LightSwitch        0.321          1.327          0.000          0              180            0
  25  Window             -0.540         1.625          -3.996         90             0              0
  26  Toilet             0.004          -0.000         -3.436         0              0              0
  27  SinkBasin          -2.176         0.824          -0.659         0              0              0
  28  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  29  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  30  SideTable          -1.526         0.001          -0.172         0              0              0
  31  SideTable          0.780          0.001          -0.667         0              90             0
  32  SideTable          0.793          0.001          -1.817         0              90             0
  33  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  34  Faucet             -2.431         0.982          -0.660         0              90             0
  35  Faucet             -1.909         0.666          -3.855         0              180            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn around and face the white cabinet with a tissue box on it. | STEP 2: Pick the soap up from the white cabinet. | STEP 3: Turn to face the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Turn to the right to face the white cabinet. | STEP 6: Put the soap on the cabinet. | END