Task: Place a washed 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              -0.5           0.901          2.25           0              90             0
   1  Cloth              0.334          0.216          2.196          0              0              0              20
   2  SprayBottle        0.257          0.820          2.106          0              0              0              27
   3  SprayBottle        0.257          0.820          2.271          0              0              0              27
   4  SoapBottle         0.507          0.215          3.824          0              0              0              35
   5  Towel              0.609          1.376          0.583          0              270            0              31
   6  HandTowel          0.634          1.512          1.892          0              90             0              37
   7  ToiletPaper        0.308          0.615          1.912          0              180            90             34
   8  SoapBottle         0.596          0.809          3.415          0              225            0              27
   9  HandTowel          0.634          1.512          3.564          0              90             0              38
  10  Towel              -0.442         1.375          1.282          0              0              0              32
  11  SoapBar            0.455          0.819          3.403          0              0              0              27
  12  ToiletPaper        0.655          1.041          1.467          0              270            0              39
  13  ToiletPaper        0.502          0.207          2.899          0              0              0              29
  14  Candle             0.502          0.212          2.115          0              0              0              20
  15  ScrubBrush         0.553          0.000          1.725          0              0              0
  16  Cloth              0.334          0.216          2.939          0              0              0              29
  17  Plunger            0.594          -0.000         1.898          0              0              0
  18  SprayBottle        0.455          0.820          2.380          0              0              0              27
  19  Drawer             0.443          0.624          3.310          0              0              0
  20  Drawer             0.443          0.323          2.194          0              0              0
  21  ShowerDoor         -0.923         1.032          1.155          0              0              0
  22  Sink               0.495          0.661          2.756          0              270            0
  23  Drawer             0.443          0.624          2.193          0              0              0
  24  Faucet             0.717          0.982          2.756          0              0              0
  25  Mirror             0.629          1.532          2.697          0              0              0
  26  ShowerGlass        -0.152         1.266          1.156          0              0              0
  27  CounterTop         0.458          0.789          2.759          0              0              0
  28  Drawer             0.443          0.323          2.566          0              0              0
  29  Drawer             0.443          0.323          2.937          0              0              0
  30  Drawer             0.443          0.323          3.310          0              0              0
  31  TowelHolder        0.716          1.361          0.583          0              270            0
  32  TowelHolder        -0.442         1.361          1.175          0              0              0
  33  LightSwitch        -1.749         1.429          3.325          0              90             0
  34  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  35  GarbageCan         0.412          -0.029         3.728          0              0              0
  36  SinkBasin          0.440          0.667          2.746          0              270            0
  37  HandTowelHolder    0.673          1.613          1.891          0              180            0
  38  HandTowelHolder    0.673          1.613          3.563          0              180            0
  39  Toilet             0.270          0.000          1.463          0              0              0
  40  ShowerHead         -1.705         1.894          0.587          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk, then turn right to face the counter. | STEP 2: Pick up the bar of soap from the left of the counter. | STEP 3: Walk to your right to face the sink. | STEP 4: Wash the soap in the sink, then pick it up again. | STEP 5: Look to the right of the sink. | STEP 6: Place the soap to the right of the sink, to the left of the spray bottle. | END