Task: Put a cleaned bar of soap on a counter.

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          3.0            0              90             0
   1  SoapBar            -1.458         0.731          2.877          0              0              0              19
   2  SoapBar            -1.873         1.045          0.616          0              90             0              33
   3  SoapBar            -1.612         0.239          2.132          0              0              0              21
   4  Candle             -1.629         0.772          2.977          0              0              0              19
   5  Candle             -1.873         1.087          0.879          0              90             0              33
   6  ToiletPaper        -1.570         0.235          3.195          0              0              0              18
   7  Candle             -1.801         0.772          2.776          0              0              0              19
   8  HandTowel          -1.513         1.461          3.962          0              0              0              25
   9  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  10  Towel              0.871          1.172          2.356          0              0              0              24
  11  SoapBottle         -1.823         1.046          0.748          0              90             0              33
  12  SoapBar            -1.715         0.731          2.776          0              0              0              19
  13  ToiletPaper        -1.553         0.624          0.053          0              0              270            29
  14  Cloth              -1.488         0.244          2.928          0              0              0              18
  15  ToiletPaper        -1.823         1.042          0.616          0              90             0              33
  16  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  17  SprayBottle        -1.801         0.732          2.927          0              0              0              19
  18  Drawer             -1.335         0.301          3.329          0              0              0
  19  CounterTop         -1.608         0.701          2.831          0              0              0
  20  ShowerDoor         0.564          1.018          1.115          0              0              0
  21  Drawer             -1.335         0.301          2.132          0              0              0
  22  Mirror             -1.924         1.414          2.759          0              0              0
  23  Sink               -1.695         0.616          2.283          0              90             0
  24  TowelHolder        0.870          1.157          2.25           0              0              0
  25  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  26  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  27  Window             -1.037         1.399          0.019          90             0              0
  28  Window             -1.986         1.396          0.707          90             90             0
  29  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  30  GarbageCan         -1.739         -0.031         1.268          0              90             0
  31  LightSwitch        1.25           1.273          3.634          0              270            0
  32  SinkBasin          -1.674         0.633          2.274          0              270            0
  33  Toilet             -1.547         0.000          0.685          0              180            0
  34  Sink               -1.695         0.616          3.365          0              90             0
  35  SinkBasin          -1.674         0.633          3.355          0              270            0
  36  ShowerHead         0.853          1.797          1.108          0              180            0
  37  Faucet             -1.926         0.721          2.285          0              90             0
  38  Faucet             -1.926         0.721          3.368          0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around towards the counter top. | STEP 2: Pick up the bar of soap closest to you from the counter. | STEP 3: Put the bar of soap in the sink on the right, rinse it off, and take it back out. | STEP 4: Turn left and walk to the sink on the left, then turn right towards the counter. | STEP 5: Put the bar of soap back onto the counter, in front of and to the right of the sink on the left. | END