Task: Put both bars of soap next to the sink on the right

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           0.900          3.5            0              270            0
   1  Cloth              -0.246         0.205          1.463          0              0              0              27
   2  SoapBar            -0.205         0.828          2.753          0              0              0              39
   3  Candle             -0.353         0.812          1.401          0              0              0              21
   4  SprayBottle        -0.161         0.813          3.260          0              0              0              21
   5  SoapBottle         -0.417         0.813          2.350          0              0              0              21
   6  HandTowel          -0.036         1.658          3.443          0              90             0              35
   7  SoapBar            -0.299         0.828          1.772          0              0              0              42
   8  ToiletPaper        -0.180         0.945          3.719          0              0              0              36
   9  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  10  Candle             -0.134         0.953          3.846          0              0              0              36
  11  SoapBottle         -0.144         0.804          1.325          0              0              0              21
  12  ToiletPaper        -0.289         0.809          1.316          0              0              0              21
  13  SprayBottle        -2.146         0.057          3.843          0              90             0              34
  14  Towel              -1.106         1.151          1.289          0              0              0              33
  15  Cloth              -0.246         0.512          1.463          0              0              0              27
  16  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  17  DishSponge         -0.300         0.829          2.656          0              0              0              39
  18  Sink               -0.299         0.807          2.754          0              270            0
  19  Drawer             -0.319         0.615          3.012          0              0              0
  20  Drawer             -0.319         0.316          3.012          0              0              0
  21  CounterTop         -0.349         0.004          1.453          0              0              0
  22  Drawer             -0.319         0.615          1.978          0              0              0
  23  Drawer             -0.319         0.316          1.978          0              0              0
  24  Drawer             -0.319         0.316          1.463          0              0              0
  25  Drawer             -0.319         0.615          2.495          0              0              0
  26  ShowerDoor         -1.514         0.910          1.167          0              0              0
  27  Drawer             -0.319         0.615          1.463          0              0              0
  28  Drawer             -0.319         0.316          2.495          0              0              0
  29  Faucet             -0.076         0.805          2.757          0              0              0
  30  Mirror             -0.228         0.465          1.453          0              0              0
  31  ShowerGlass        -0.766         0.541          0.485          0              0              0
  32  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  33  TowelHolder        -1.105         1.136          1.183          0              0              0
  34  GarbageCan         -2.041         -0.000         3.724          0              45             0
  35  HandTowelHolder    0.001          1.759          3.443          0              180            0
  36  Toilet             -0.600         -0.000         3.671          0              270            0
  37  LightSwitch        -2.312         1.386          3.296          0              90             0
  38  Faucet             -0.076         0.805          1.733          0              0              0
  39  SinkBasin          -0.304         0.819          2.753          0              0              0
  40  Sink               -0.298         0.807          1.725          0              270            0
  41  ShowerHead         -0.083         1.248          0.522          0              0              0
  42  SinkBasin          -0.304         0.819          1.723          0              0              0
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: Head to the left, stand in front of the sink | STEP 2: Take the soap out of the sink | STEP 3: put the soap on the counter next to the sink | STEP 4: Turn to the left | STEP 5: head to the other sink | STEP 6: Take the soap from the counter | STEP 7: Head back to the right | STEP 8: Face the sink, put the soap on the counter | END