Task: put a rinse off bar of soap in to the 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           0.901          2.0            0              180            0
   1  SprayBottle        -2.202         0.018          3.807          0              0              0              34
   2  SprayBottle        -0.141         0.955          2.913          0              0              0              25
   3  Candle             -0.079         0.954          2.948          0              0              0              25
   4  Candle             -0.381         0.075          2.112          0              0              0              27
   5  SoapBottle         -0.330         0.076          2.247          0              0              0              27
   6  SoapBottle         -0.326         0.955          2.737          0              0              0              25
   7  HandTowel          -0.038         1.619          3.799          0              90             0              32
   8  HandTowel          -0.038         1.619          1.887          0              90             0              31
   9  Towel              -1.082         1.326          1.302          0              0              0              28
  10  SoapBar            -0.051         0.953          1.669          0              0              0              33
  11  ToiletPaper        -0.141         0.951          2.772          0              0              0              25
  12  Plunger            -0.112         -0.000         1.848          0              0              0
  13  Candle             -0.450         0.954          2.807          0              0              0              25
  14  ToiletPaper        -0.280         0.654          1.985          0              180            90             30
  15  SprayBottle        -0.077         0.954          1.544          0              0              0              33
  16  Cloth              -0.279         0.075          3.100          0              0              0              21
  17  ScrubBrush         -0.322         3.109          1.950          0              0              0
  18  SoapBottle         -0.331         0.077          3.462          0              0              0              26
  19  Mirror             -0.030         1.544          2.864          0              0              0
  20  Sink               -0.302         0.799          3.263          0              270            0
  21  Cabinet            -0.491         0.404          2.863          0              0              0
  22  Cabinet            -0.495         0.384          2.842          0              0              0
  23  ShowerDoor         -1.647         1.017          1.180          0              0              0
  24  ShowerGlass        -0.909         0.788          0.485          0              0              0
  25  CounterTop         -0.261         0.927          2.843          0              0              0
  26  Cabinet            -0.495         0.384          3.650          0              0              0
  27  Cabinet            -0.491         0.404          2.055          0              0              0
  28  TowelHolder        -1.082         1.312          1.195          0              0              0
  29  LightSwitch        -2.424         1.447          3.338          0              90             0
  30  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  31  HandTowelHolder    0.000          1.721          1.887          0              180            0
  32  HandTowelHolder    0.000          1.721          3.799          0              180            0
  33  Toilet             -0.542         3.109          1.493          0              270            0
  34  GarbageCan         -2.159         -0.000         3.756          0              0              0
  35  SinkBasin          -0.308         0.820          3.266          0              0              0
  36  ShowerHead         -0.134         1.888          0.564          0              90             0
  37  Faucet             0.0            1.009          3.265          0              0              0
  38  Faucet             0.0            1.009          2.421          0              0              0
  39  SinkBasin          -0.308         0.820          2.422          0              0              0
  40  Sink               -0.302         0.799          2.419          0              270            0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: turn to the left to face the toilet | STEP 2: pick up the bar of soap from the back of the toilet | STEP 3: move to the left to face the sink to the left of the toilet | STEP 4: put the bar of soap in to the sink, turn on the faucet to rinse off the soap, pick up the soap out of the sink | STEP 5: move back slightly from the sink | STEP 6: open the left cabinet door below the sink on the right, put the bar of soap in to the cabinet and close the door | END