Task: Put two bars of soap in a cabinet 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              -1.5           0.901          3.5            0              270            0
   1  Cloth              -0.280         0.076          3.462          0              0              0              24
   2  SprayBottle        -0.280         0.077          2.743          0              0              0              20
   3  SprayBottle        -0.388         0.955          2.878          0              0              0              23
   4  SoapBar            -0.450         0.954          2.807          0              0              0              23
   5  ToiletPaper        -0.330         0.072          3.145          0              0              0              19
   6  HandTowel          -0.038         1.619          1.887          0              90             0              29
   7  Towel              -1.082         1.326          1.302          0              0              0              26
   8  SoapBar            -0.158         0.953          1.606          0              0              0              31
   9  ToiletPaper        -0.280         0.654          1.985          0              180            90             28
  10  Plunger            -0.112         -0.000         1.848          0              0              0
  11  Candle             -0.077         0.953          1.669          0              0              0              31
  12  ToiletPaper        -0.326         0.951          2.878          0              0              0              23
  13  SprayBottle        -0.024         0.954          1.544          0              90             0              31
  14  Cloth              -0.178         0.075          2.202          0              90             0              25
  15  ScrubBrush         -0.322         3.109          1.950          0              0              0
  16  SoapBottle         -0.141         0.955          2.878          0              0              0              23
  17  Mirror             -0.030         1.544          2.864          0              0              0
  18  Sink               -0.302         0.799          3.263          0              270            0
  19  Cabinet            -0.491         0.404          2.863          0              0              0
  20  Cabinet            -0.495         0.384          2.842          0              0              0
  21  ShowerDoor         -1.647         1.017          1.180          0              0              0
  22  ShowerGlass        -0.909         0.788          0.485          0              0              0
  23  CounterTop         -0.261         0.927          2.843          0              0              0
  24  Cabinet            -0.495         0.384          3.650          0              0              0
  25  Cabinet            -0.491         0.404          2.055          0              0              0
  26  TowelHolder        -1.082         1.312          1.195          0              0              0
  27  LightSwitch        -2.424         1.447          3.338          0              90             0
  28  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  29  HandTowelHolder    0.000          1.721          1.887          0              180            0
  30  HandTowelHolder    0.000          1.721          3.799          0              180            0
  31  Toilet             -0.542         3.109          1.493          0              270            0
  32  GarbageCan         -2.159         -0.000         3.756          0              0              0
  33  SinkBasin          -0.308         0.820          3.266          0              0              0
  34  ShowerHead         -0.134         1.888          0.564          0              90             0
  35  Faucet             0.0            1.009          3.265          0              0              0
  36  Faucet             0.0            1.009          2.421          0              0              0
  37  SinkBasin          -0.308         0.820          2.422          0              0              0
  38  Sink               -0.302         0.799          2.419          0              270            0
  39  NorthWall
  40  SouthWall
  41  SouthWall

Plan:
STEP 1: Make a left to reach the sink across the room. | STEP 2: Pick up the bar of soap from the sink countertop, the one farthest to the right. | STEP 3: Turn to face the cabinet under the sink. | STEP 4: Put the bar of soap in the rightmost cabinet under the sink. | STEP 5: Walk to the left-hand sink. | STEP 6: Pick up the bar of soap sitting in between the two sinks. | STEP 7: Turn to face the cabinet under the right sink. | STEP 8: Put the other bar of soap in the rightmost cabinet under the sink. | END