Task: drop a wet soap in the cupboard under the sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.900          4.25           0              0              0
   1  SoapBar            -3.597         0.541          1.477          0              90             0              39
   2  SoapBar            -2.905         0.676          2.906          0              348.434        0              24
   3  SoapBar            -2.202         0.034          4.922          0              0              0              38
   4  Candle             -0.965         0.972          4.933          0              0              0              29
   5  Candle             -2.706         0.685          2.381          0              348.434        0              24
   6  SprayBottle        -3.770         0.542          0.557          0              90             0              39
   7  SprayBottle        -1.379         0.040          4.769          0              90             0              33
   8  SoapBottle         -1.379         0.044          4.887          0              0              0              33
   9  Towel              -1.719         1.228          1.846          0              0              0              36
  10  Candle             -1.430         0.048          4.709          0              0              0              33
  11  SoapBottle         -3.713         0.546          0.925          0              90             0              39
  12  HandTowel          -2.093         1.442          5.107          0              0              0              40
  13  Towel              -0.181         1.419          2.425          0              270            0              37
  14  SoapBar            -3.828         0.541          1.109          0              90             0              39
  15  ToiletPaper        -0.188         1.036          3.374          0              0              0              43
  16  TissueBox          -3.712         0.541          0.741          0              90             0              39
  17  Cloth              -3.597         0.541          1.109          0              90             0              39
  18  ToiletPaper        -0.153         1.126          3.705          0              270            270            42
  19  SprayBottle        -0.444         0.040          5.006          0              0              0              23
  20  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  21  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  22  BathtubBasin       -3.404         0.166          2.904          0              0              0
  23  Cabinet            -0.124         0.364          4.634          0              0              0
  24  Bathtub            -2.896         0.667          2.860          0              0              0
  25  Faucet             -3.475         0.711          3.811          0              0              0
  26  ShowerGlass        0.0            0.0            0.0            0              0              0
  27  ShowerDoor         -0.282         1.228          1.730          0              0              0
  28  Faucet             -1.524         1.047          5.096          0              180            0
  29  CounterTop         -1.023         0.954          4.884          0              0              0
  30  Mirror             -0.975         1.577          5.145          0              0              0
  31  Cabinet            -1.962         0.364          4.634          0              0              0
  32  Cabinet            -1.027         0.364          4.634          0              0              0
  33  Cabinet            -1.059         0.364          4.634          0              0              0
  34  Window             -1.993         1.888          0.144          0              0              0
  35  LightSwitch        -2.496         1.366          5.146          0              180            0
  36  TowelHolder        -1.720         1.213          1.740          0              0              0
  37  TowelHolder        -0.074         1.404          2.424          0              270            0
  38  GarbageCan         -2.346         0.002          4.878          0              180            0
  39  Shelf              -3.713         0.531          0.951          0              90             0
  40  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  41  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  42  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  43  Toilet             -0.517         -0.000         3.220          0              0              0
  44  ShowerHead         -0.182         1.256          0.875          0              0              0
  45  SinkBasin          -0.569         0.986          4.886          0              180            0
  46  Sink               -0.579         0.926          4.874          0              180            0
  47  Sink               -1.524         0.926          4.874          0              180            0
  48  SinkBasin          -1.514         0.986          4.886          0              180            0
  49  Faucet             -0.583         1.047          5.096          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn right and head for the bin | STEP 2: pick up the soap from the bin | STEP 3: head right towards the sink | STEP 4: wet the soap in the sink | STEP 5: move below the sink to the cupboard | STEP 6: drop the soap in the cupboard below the sink | END