Task: Move soap from counter to sink, followed by moving to cupboard below sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          2.75           0              270            0
   1  Cloth              -0.279         0.075          2.247          0              0              0              22
   2  HandTowel          -0.038         1.619          3.799          0              90             0              27
   3  HandTowel          -0.038         1.619          1.887          0              90             0              26
   4  Towel              -1.082         1.326          1.302          0              0              0              23
   5  SoapBar            -0.141         0.954          2.772          0              0              0              20
   6  ToiletPaper        -0.280         0.654          1.985          0              180            90             25
   7  Plunger            -0.112         -0.000         1.848          0              0              0
   8  Candle             -0.381         0.075          2.381          0              0              0              22
   9  ToiletPaper        -0.077         0.950          1.544          0              0              0              28
  10  SprayBottle        -0.077         0.954          1.419          0              0              0              28
  11  Cloth              -0.351         0.946          2.074          0              0              0              34
  12  ScrubBrush         -0.322         3.109          1.950          0              0              0
  13  SoapBottle         -0.326         0.955          2.843          0              0              0              20
  14  Mirror             -0.030         1.544          2.864          0              0              0
  15  Sink               -0.302         0.799          3.263          0              270            0
  16  Cabinet            -0.491         0.404          2.863          0              0              0
  17  Cabinet            -0.495         0.384          2.842          0              0              0
  18  ShowerDoor         -1.647         1.017          1.180          0              0              0
  19  ShowerGlass        -0.909         0.788          0.485          0              0              0
  20  CounterTop         -0.261         0.927          2.843          0              0              0
  21  Cabinet            -0.495         0.384          3.650          0              0              0
  22  Cabinet            -0.491         0.404          2.055          0              0              0
  23  TowelHolder        -1.082         1.312          1.195          0              0              0
  24  LightSwitch        -2.424         1.447          3.338          0              90             0
  25  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  26  HandTowelHolder    0.000          1.721          1.887          0              180            0
  27  HandTowelHolder    0.000          1.721          3.799          0              180            0
  28  Toilet             -0.542         3.109          1.493          0              270            0
  29  GarbageCan         -2.159         -0.000         3.756          0              0              0
  30  SinkBasin          -0.308         0.820          3.266          0              0              0
  31  ShowerHead         -0.134         1.888          0.564          0              90             0
  32  Faucet             0.0            1.009          3.265          0              0              0
  33  Faucet             0.0            1.009          2.421          0              0              0
  34  SinkBasin          -0.308         0.820          2.422          0              0              0
  35  Sink               -0.302         0.799          2.419          0              270            0
  36  NorthWall
  37  SouthWall
  38  SouthWall

Plan:
STEP 1: Turn around facing sink | STEP 2: Pick up bar of soap | STEP 3: Turn around, take one step, turn left, take one step, turn left facing sink  | STEP 4: Put soap in sink, turn water on, turn water off, remove soap from sink | STEP 5: Turn around, take one step, turn around, | STEP 6: Open cupboard below sink, put soap inside, close cupboard below sink | END