Task: put a washed bar of soap onto bathroom counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          2.0            0              0              0
   1  Candle             -2.811         1.086          0.586          0              90             0              47
   2  Candle             -2.678         0.937          1.886          0              0              0              37
   3  SoapBar            -2.783         1.663          2.996          0              0              0              31
   4  SoapBar            -0.428         0.194          1.754          0              0              0              44
   5  SoapBar            -2.900         0.928          2.776          0              0              0              37
   6  SprayBottle        -2.800         0.904          3.364          0              0              0              29
   7  DishSponge         -2.792         1.207          1.490          0              270            0              38
   8  DishSponge         -2.678         0.930          2.734          0              0              0              37
   9  Towel              -0.106         1.510          1.943          0              270            0              39
  10  Candle             -2.872         1.086          0.652          0              90             0              47
  11  SoapBottle         -2.826         0.928          1.800          0              0              0              37
  12  HandTowel          -2.698         1.521          2.867          0              0              0              40
  13  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  14  SoapBar            -0.379         0.194          1.649          0              0              0              44
  15  ToiletPaper        -0.207         0.048          0.245          0              270            0              43
  16  Cloth              -2.600         1.664          3.365          0              0              0              34
  17  ToiletPaper        -2.927         1.197          1.459          0              0              0              38
  18  SprayBottle        -2.783         1.664          3.149          0              0              0              31
  19  PaperTowelRoll     -2.964         1.183          0.849          0              180            0              47
  20  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  21  DishSponge         -2.710         0.939          2.380          0              90             0              45
  22  Cabinet            -2.410         0.371          2.862          0              0              0
  23  Mirror             -2.973         1.613          2.265          0              0              0
  24  Bathtub            -0.435         0.182          1.575          0              0              0
  25  Cabinet            -2.410         0.371          3.570          0              0              0
  26  Cabinet            -2.410         0.371          2.040          0              0              0
  27  Cabinet            -2.410         1.261          2.913          0              0              0
  28  Faucet             -0.769         0.416          1.0            0              9.958          0
  29  Cabinet            -2.410         1.261          3.570          0              0              0
  30  Sink               -2.723         0.862          2.231          0              90             0
  31  Cabinet            -2.410         2.022          2.913          0              0              0
  32  Cabinet            -2.410         0.371          1.585          0              0              0
  33  Drawer             -2.638         0.767          3.239          0              0              0
  34  Cabinet            -2.410         2.022          3.570          0              0              0
  35  Faucet             -2.928         0.978          2.231          0              90             0
  36  Cabinet            -2.410         0.371          2.913          0              0              0
  37  CounterTop         -2.688         0.966          2.260          0              0              0
  38  CounterTop         -2.611         1.243          1.455          0              270            0
  39  TowelHolder        0.0            1.496          1.942          0              270            0
  40  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  41  Window             -2.256         1.656          -0.021         90             0              0
  42  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  43  GarbageCan         -0.403         -0.027         0.241          0              0              0
  44  BathtubBasin       -0.435         0.185          1.544          0              0              0
  45  SinkBasin          -2.736         0.929          2.241          0              90             0
  46  LightSwitch        -1.675         1.442          3.610          0              180            0
  47  Toilet             -2.579         0.032          0.656          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn to face counter to right of sink | STEP 2: pick up pink bar of soap from counter | STEP 3: walk left to face sink | STEP 4: wash soap in sink, pick up soap from sink | STEP 5: move slightly right to face counter to right of sink | STEP 6: place soap on counter to right of sink | END