Task: Place wet 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              0.0            0.901          2.5            0              90             0
   1  SoapBar            -1.831         0.953          1.759          0              180            0              35
   2  SoapBar            -1.542         0.040          3.448          0              0              0              26
   3  SoapBar            -1.403         0.074          1.404          0              0              0              32
   4  Candle             -1.885         0.953          2.009          0              180            0              35
   5  SprayBottle        -1.755         0.915          3.172          0              0              0              23
   6  SprayBottle        -1.643         0.037          3.316          0              0              0              26
   7  SoapBottle         -1.593         0.041          3.633          0              0              0              29
   8  SoapBottle         -1.938         0.953          2.071          0              90             0              35
   9  Candle             -1.694         0.040          3.227          0              0              0              26
  10  HandTowel          -1.670         1.496          3.962          0              0              0              33
  11  SoapBottle         -1.643         0.041          3.811          0              0              0              29
  12  Towel              0.833          1.160          2.357          0              0              0              30
  13  Cloth              -1.695         0.031          3.040          0              0              0              26
  14  SoapBar            -1.745         0.040          3.811          0              0              0              29
  15  ToiletPaper        -1.140         1.013          1.256          0              0              90             31
  16  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  17  SprayBottle        -1.858         0.950          1.884          0              180            0              35
  18  ToiletPaper        -1.476         0.042          1.372          0              0              0              32
  19  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  20  Cabinet            -1.479         0.348          2.362          0              0              0
  21  Cabinet            -1.483         0.372          3.152          0              0              0
  22  Sink               -1.746         0.884          3.553          0              90             0
  23  CounterTop         -1.758         0.669          3.164          0              0              0
  24  Faucet             -1.894         1.006          2.730          0              0              0
  25  Mirror             -1.943         1.532          3.443          0              0              0
  26  Cabinet            -1.479         0.348          3.170          0              0              0
  27  ShowerDoor         0.527          1.039          2.098          0              0              0
  28  Painting           -0.566         1.591          1.173          0              0              0
  29  Cabinet            -1.483         0.372          3.960          0              0              0
  30  TowelHolder        0.833          1.146          2.250          0              0              0
  31  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  32  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  33  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  34  LightSwitch        1.249          1.322          3.635          0              270            0
  35  Toilet             -1.447         0.000          1.961          0              90             0
  36  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  37  ShowerHead         0.871          1.097          2.009          0              270            0
  38  Faucet             -1.894         1.006          3.560          0              0              0
  39  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  40  Sink               -1.746         0.884          2.723          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and walk to the sink on the right | STEP 2: Open the left hand cabinet under the sink and pick up the bar of soap  | STEP 3: Place the soap into the sink and turn on the water to rinse the soap, then turn off the water and pick up the soap | STEP 4: Take a step backwards and continue to face the sink on the right | STEP 5: Place the bar of soap on the counter to the left of the sink in front of the yellow spray bottle | END