Task: Put two soap together in the 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          2.25           0              180            0
   1  Cloth              -1.529         0.244          3.329          0              0              0              16
   2  SoapBar            -1.899         1.045          0.616          0              90             0              31
   3  Candle             -1.458         0.772          2.927          0              0              0              17
   4  ToiletPaper        -1.887         0.728          2.827          0              0              0              17
   5  Candle             -1.629         0.772          2.676          0              0              0              17
   6  HandTowel          -1.513         1.461          3.962          0              0              0              23
   7  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
   8  Towel              0.871          1.172          2.356          0              0              0              22
   9  SoapBottle         -1.735         0.042          1.323          0              180            0              28
  10  SoapBar            -1.543         0.731          2.776          0              0              0              17
  11  ToiletPaper        -1.553         0.624          0.053          0              0              270            27
  12  Cloth              -1.529         0.244          2.928          0              0              0              16
  13  ToiletPaper        -1.823         1.042          0.616          0              90             0              31
  14  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  15  SprayBottle        -1.458         0.732          2.827          0              0              0              17
  16  Drawer             -1.335         0.301          3.329          0              0              0
  17  CounterTop         -1.608         0.701          2.831          0              0              0
  18  ShowerDoor         0.564          1.018          1.115          0              0              0
  19  Drawer             -1.335         0.301          2.132          0              0              0
  20  Mirror             -1.924         1.414          2.759          0              0              0
  21  Sink               -1.695         0.616          2.283          0              90             0
  22  TowelHolder        0.870          1.157          2.25           0              0              0
  23  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  24  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  25  Window             -1.037         1.399          0.019          90             0              0
  26  Window             -1.986         1.396          0.707          90             90             0
  27  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  28  GarbageCan         -1.739         -0.031         1.268          0              90             0
  29  LightSwitch        1.25           1.273          3.634          0              270            0
  30  SinkBasin          -1.674         0.633          2.274          0              270            0
  31  Toilet             -1.547         0.000          0.685          0              180            0
  32  Sink               -1.695         0.616          3.365          0              90             0
  33  SinkBasin          -1.674         0.633          3.355          0              270            0
  34  ShowerHead         0.853          1.797          1.108          0              180            0
  35  Faucet             -1.926         0.721          2.285          0              90             0
  36  Faucet             -1.926         0.721          3.368          0              90             0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: walk forward then head to the left side of the toilet | STEP 2: Pick up the soap on the toilet tank  | STEP 3: Turn around on your left then head to the sink  | STEP 4: Put the soap in the sink | STEP 5: Pick up the soap on the counter | STEP 6: Put the soap beside the other in the sink | END