Task: Wash the soap on the counter in addition to placing it in the cabinet.

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          0.902          -0.75          0              90             0
   1  Cloth              0.419          0.034          -0.768         0              270            0              29
   2  Cloth              0.419          0.034          0.340          0              270            0              29
   3  SoapBar            -1.493         0.961          0.630          0              0              0              17
   4  SprayBottle        -2.004         0.082          0.502          0              0              0              21
   5  Towel              -0.490         1.367          0.902          0              180            0              27
   6  Candle             -2.918         1.002          0.889          0              0              0              17
   7  HandTowel          -3.096         1.587          0.744          0              270            0              31
   8  SoapBar            0.557          0.033          0.118          0              270            0              29
   9  ToiletPaper        -0.860         1.042          0.814          0              180            0              33
  10  Cloth              -2.451         0.081          0.696          0              0              0              18
  11  ToiletPaper        -1.416         0.816          0.665          0              90             270            32
  12  SprayBottle        -1.057         1.047          0.784          0              180            0              33
  13  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  14  SoapBottle         -2.992         0.083          0.889          0              90             0              16
  15  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  16  Cabinet            -3.094         0.390          0.421          0              0              0
  17  CounterTop         -2.298         0.953          0.689          0              0              0
  18  Cabinet            -2.305         0.415          0.425          0              0              0
  19  Bathtub            0.286          0.290          -0.077         0              0              0
  20  Cabinet            -1.496         0.415          0.425          0              0              0
  21  Cabinet            -2.286         0.390          0.421          0              0              0
  22  Sink               -1.924         0.930          0.675          0              180            0
  23  Faucet             -1.922         1.015          0.887          0              0              0
  24  Mirror             -2.306         1.526          1.001          0              0              0
  25  Faucet             -2.681         1.015          0.887          0              0              0
  26  LightSwitch        -1.389         1.263          -1.693         0              0              0
  27  TowelHolder        -0.490         1.353          1.009          0              180            0
  28  GarbageCan         -2.857         0.016          -1.487         0              0              0
  29  BathtubBasin       0.349          0.023          -0.135         0              270            0
  30  SinkBasin          -1.908         0.961          0.669          0              180            0
  31  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  32  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  33  Toilet             -1.054         0.001          0.552          0              270            0
  34  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  35  Faucet             0.270          0.670          0.906          0              0              0
  36  SinkBasin          -2.666         0.961          0.669          0              180            0
  37  Sink               -2.681         0.930          0.675          0              180            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn around, take a step forward, and then turn right towards the bar soap on the counter. | STEP 2: Pick up the soap from the counter. | STEP 3: Turn left and go to the sink next to the wall. | STEP 4: Place the soap in the sink, wash it, and pick it back up. | STEP 5: Take a step backwards to find the cabinet below the sink beside the wall. | STEP 6: Place the soap in the cabinet. | END