Task: Get the soap from the back of the toilet, get it wet in the sink and place it on the counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.901          3.25           0              270            0
   1  Cloth              -1.284         0.994          3.873          0              0              0              33
   2  Cloth              -1.439         0.067          3.226          0              0              0              32
   3  SoapBar            0.231          0.047          3.893          0              0              0              36
   4  SoapBar            -1.501         0.068          2.958          0              0              0              26
   5  SoapBar            -1.439         0.067          3.427          0              0              0              32
   6  Candle             -1.500         0.067          2.341          0              0              0              28
   7  Candle             -1.547         0.994          3.100          0              0              0              33
   8  SprayBottle        -1.620         0.068          2.441          0              0              0              28
   9  SprayBottle        -1.322         0.069          3.844          0              0              0              34
  10  SoapBottle         -1.219         0.993          2.269          0              0              0              33
  11  SoapBottle         -1.284         0.993          2.863          0              0              0              33
  12  ToiletPaper        -1.613         0.991          3.812          0              0              0              33
  13  Towel              -0.200         1.174          1.286          0              0              0              35
  14  HandTowel          -1.275         1.6            3.961          0              0              0              37
  15  SoapBar            0.306          0.893          1.618          0              0              0              39
  16  ToiletPaper        -1.319         0.064          2.441          0              0              0              28
  17  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  18  Candle             -1.259         0.067          2.240          0              0              0              28
  19  TissueBox          -1.481         0.994          2.923          0              0              0              33
  20  SoapBottle         0.313          0.046          3.838          0              0              0              36
  21  ToiletPaper        0.356          0.809          1.299          0              270            270            41
  22  SprayBottle        0.306          0.894          1.566          0              0              0              39
  23  Cloth              -1.501         0.068          3.793          0              0              0              34
  24  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  25  Mirror             -1.703         1.661          3.509          0              0              0
  26  Cabinet            -1.187         0.394          3.030          0              0              0
  27  ShowerDoor         -1.631         1.014          1.170          0              0              0
  28  Cabinet            -1.187         0.394          2.127          0              0              0
  29  Sink               -1.326         0.960          2.567          0              90             0
  30  ShowerGlass        0.254          0.788          0.485          0              0              0
  31  Mirror             -1.703         1.661          2.480          0              0              0
  32  Cabinet            -1.187         0.394          3.063          0              0              0
  33  CounterTop         -1.348         0.972          2.945          0              0              0
  34  Cabinet            -1.187         0.394          3.966          0              0              0
  35  TowelHolder        -0.200         1.160          1.179          0              0              0
  36  GarbageCan         0.209          0.000          3.772          0              0              0
  37  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  38  Window             -0.726         1.667          -0.009         90             0              0
  39  Toilet             -0.039         0.090          1.733          0              270            0
  40  SinkBasin          -1.317         0.998          2.567          0              90             0
  41  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  42  LightSwitch        0.444          1.368          3.323          0              270            0
  43  Faucet             -1.587         0.960          3.513          0              90             0
  44  ShowerHead         -1.618         1.251          0.558          0              180            0
  45  Sink               -1.325         0.960          3.512          0              90             0
  46  SinkBasin          -1.317         0.998          3.513          0              90             0
  47  Faucet             -1.587         0.960          2.569          0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn left 2 times and walk to the toilet | STEP 2: Pick up the bar of soap that is on the back of the toilet | STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink | STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap up again | STEP 5: Turn to the left, then turn right  and walk toward the wall then turn right again | STEP 6: Place the soap on the counter | END