Task: Place the rinsed off soap in the right most cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.900          3.0            0              270            0
   1  SoapBar            -1.668         0.067          2.709          0              0              0              19
   2  SoapBar            -1.734         0.016          2.246          0              0              0              19
   3  SoapBottle         -1.707         0.069          3.355          0              90             0              26
   4  ToiletPaper        -0.370         0.443          0.163          0              0              0              16
   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            0.349          0.615          3.839          0              0              0              40
   8  ToiletPaper        -0.500         0.443          0.090          0              0              0              16
   9  ToiletPaper        -1.825         0.010          2.22           0              0              0              19
  10  Cloth              -1.411         0.074          0.211          0              90             0              18
  11  SprayBottle        -1.864         0.069          3.540          0              0              0              22
  12  Candle             -0.012         0.617          3.815          0              0              0              40
  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         -1.743         0.772          3.098          0              0              0              17
  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  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Face the left most sink. | STEP 2: Open the left most cabinet and grab the soap. | STEP 3: Re-position to the middle of both sinks. | STEP 4: Rinse the soap in the right most sink. | STEP 5: Back up a little bit from the sinks. | STEP 6: Place the soap in the right most cabinet under the right sink. | END