Task: Put a clean soap on the counter.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.901          -2.0           0              270            0
   1  SoapBar            -0.099         1.045          -2.852         0              270            0              37
   2  SoapBar            -2.620         0.806          -2.525         0              0              0              28
   3  SoapBar            -0.190         1.045          -3.114         0              270            0              37
   4  Candle             -0.099         1.054          -2.983         0              270            0              37
   5  SprayBottle        -2.839         0.067          -3.755         0              270            0              26
   6  SprayBottle        -0.386         0.063          -3.803         0              0              0              35
   7  SoapBottle         -0.129         1.047          -3.180         0              270            0              37
   8  SoapBottle         -2.764         0.068          -3.506         0              0              0              26
   9  ToiletPaper        -2.532         0.803          -3.474         0              0              0              28
  10  Candle             -2.796         0.815          -3.532         0              0              0              28
  11  Cloth              -2.537         0.066          -2.436         0              0              0              25
  12  HandTowel          -2.962         1.584          -2.569         0              270            0              32
  13  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  14  SoapBar            -2.387         0.065          -2.378         0              0              0              25
  15  ToiletPaper        -2.355         0.803          -3.765         0              0              0              28
  16  ToiletPaper        -2.462         0.063          -3.023         0              0              0              21
  17  Towel              -1.291         1.386          -0.63          0              270            0              29
  18  SoapBottle         -2.708         0.808          -2.394         0              0              0              28
  19  SprayBottle        -2.355         0.807          -2.656         0              0              0              28
  20  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  21  Cabinet            -2.293         0.324          -3.254         0              0              0
  22  Mirror             -3.0           1.659          -3.069         0              0              0
  23  Sink               -2.661         0.785          -3.069         0              90             0
  24  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  25  Cabinet            -2.299         0.345          -2.250         0              0              0
  26  Cabinet            -2.293         0.324          -3.814         0              0              0
  27  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  28  CounterTop         -2.632         0.843          -3.040         0              0              0
  29  TowelHolder        -1.184         1.371          -0.629         0              270            0
  30  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  31  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  32  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  33  Window             -0.567         1.706          -4.002         90             0              0
  34  SinkBasin          -2.669         0.863          -3.063         0              90             0
  35  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  36  LightSwitch        -1.945         1.503          0.000          0              180            0
  37  Toilet             -0.452         0.000          -3.052         0              0              0
  38  Faucet             -3.0           1.167          -3.073         0              180            0
  39  ShowerHead         -0.614         1.934          -0.013         0              0              0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: Turn to face the counter to the right of the sink. | STEP 2: Open the lower cabinet on the far right, below the sink and pick up the soap. | STEP 3: Move to the left to face the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Go right and then left and turn to face the end of the counter to the right of the sink. | STEP 6: Put the soap on the counter. | END