Task: Put two bars of soap on the counter near the sinks.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.900          2.75           0              0              0
   1  Cloth              -0.246         0.512          1.978          0              0              0              23
   2  SoapBar            -0.394         0.828          1.772          0              0              0              43
   3  Candle             -0.470         0.510          2.662          0              0              0              26
   4  Candle             -0.482         0.812          3.172          0              0              0              22
   5  SoapBottle         -0.417         0.813          2.243          0              0              0              22
   6  ToiletPaper        -0.188         0.949          3.846          0              0              0              37
   7  HandTowel          -0.036         1.658          3.443          0              90             0              36
   8  SoapBar            -0.363         0.828          2.753          0              0              0              40
   9  ToiletPaper        -2.170         0.053          3.843          0              90             0              35
  10  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  11  Candle             -0.190         0.206          2.551          0              0              0              21
  12  SoapBottle         -0.144         0.804          1.325          0              0              0              22
  13  ToiletPaper        -1.156         0.897          3.925          0              180            90             33
  14  SprayBottle        -0.289         0.813          2.243          0              0              0              22
  15  Towel              -1.106         1.151          1.289          0              0              0              34
  16  Cloth              -0.302         0.206          2.034          0              0              0              23
  17  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  18  DishSponge         -0.134         0.954          3.658          0              0              0              37
  19  Sink               -0.299         0.807          2.754          0              270            0
  20  Drawer             -0.319         0.615          3.012          0              0              0
  21  Drawer             -0.319         0.316          3.012          0              0              0
  22  CounterTop         -0.349         0.004          1.453          0              0              0
  23  Drawer             -0.319         0.615          1.978          0              0              0
  24  Drawer             -0.319         0.316          1.978          0              0              0
  25  Drawer             -0.319         0.316          1.463          0              0              0
  26  Drawer             -0.319         0.615          2.495          0              0              0
  27  ShowerDoor         -1.514         0.910          1.167          0              0              0
  28  Drawer             -0.319         0.615          1.463          0              0              0
  29  Drawer             -0.319         0.316          2.495          0              0              0
  30  Faucet             -0.076         0.805          2.757          0              0              0
  31  Mirror             -0.228         0.465          1.453          0              0              0
  32  ShowerGlass        -0.766         0.541          0.485          0              0              0
  33  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  34  TowelHolder        -1.105         1.136          1.183          0              0              0
  35  GarbageCan         -2.041         -0.000         3.724          0              45             0
  36  HandTowelHolder    0.001          1.759          3.443          0              180            0
  37  Toilet             -0.600         -0.000         3.671          0              270            0
  38  LightSwitch        -2.312         1.386          3.296          0              90             0
  39  Faucet             -0.076         0.805          1.733          0              0              0
  40  SinkBasin          -0.304         0.819          2.753          0              0              0
  41  Sink               -0.298         0.807          1.725          0              270            0
  42  ShowerHead         -0.083         1.248          0.522          0              0              0
  43  SinkBasin          -0.304         0.819          1.723          0              0              0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Back up and turn right, walk to left-hand sink | STEP 2: Take bar of soap from sink. | STEP 3: Turn right, walk to right-hand sink, turn to face sink. | STEP 4: Put soap down to left of right-hand sink. | STEP 5: Pick up soap from the right-hand sink. | STEP 6: Put soap down to right of sink. | END