Task: put washed soap bar on counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.902          2.25           0              270            0
   1  Cloth              -2.707         0.092          3.076          0              0              0              33
   2  Cloth              -2.732         0.093          2.662          0              0              0              23
   3  Candle             -2.611         1.214          1.370          0              270            0              35
   4  SoapBar            -2.900         0.928          2.861          0              0              0              34
   5  ToiletPaper        -2.328         0.791          0.079          0              0              270            39
   6  Towel              -0.106         1.510          1.943          0              270            0              36
   7  Candle             -2.819         0.101          3.001          0              0              0              33
   8  SoapBottle         -2.338         1.205          1.490          0              270            0              35
   9  HandTowel          -2.698         1.521          2.867          0              0              0              37
  10  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  11  SoapBar            -2.604         0.928          1.714          0              0              0              34
  12  ToiletPaper        -2.487         1.660          3.149          0              0              0              28
  13  Cloth              -2.712         0.745          3.094          0              0              0              30
  14  ToiletPaper        -0.183         0.053          0.274          0              270            0              40
  15  SprayBottle        -2.933         1.078          0.652          0              90             0              44
  16  PaperTowelRoll     -0.253         0.157          0.187          0              270            0              40
  17  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  18  DishSponge         -2.736         0.939          2.081          0              90             0              42
  19  Cabinet            -2.410         0.371          2.862          0              0              0
  20  Mirror             -2.973         1.613          2.265          0              0              0
  21  Bathtub            -0.435         0.182          1.575          0              0              0
  22  Cabinet            -2.410         0.371          3.570          0              0              0
  23  Cabinet            -2.410         0.371          2.040          0              0              0
  24  Cabinet            -2.410         1.261          2.913          0              0              0
  25  Faucet             -0.769         0.416          1.0            0              9.958          0
  26  Cabinet            -2.410         1.261          3.570          0              0              0
  27  Sink               -2.723         0.862          2.231          0              90             0
  28  Cabinet            -2.410         2.022          2.913          0              0              0
  29  Cabinet            -2.410         0.371          1.585          0              0              0
  30  Drawer             -2.638         0.767          3.239          0              0              0
  31  Cabinet            -2.410         2.022          3.570          0              0              0
  32  Faucet             -2.928         0.978          2.231          0              90             0
  33  Cabinet            -2.410         0.371          2.913          0              0              0
  34  CounterTop         -2.688         0.966          2.260          0              0              0
  35  CounterTop         -2.611         1.243          1.455          0              270            0
  36  TowelHolder        0.0            1.496          1.942          0              270            0
  37  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  38  Window             -2.256         1.656          -0.021         90             0              0
  39  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  40  GarbageCan         -0.403         -0.027         0.241          0              0              0
  41  BathtubBasin       -0.435         0.185          1.544          0              0              0
  42  SinkBasin          -2.736         0.929          2.241          0              90             0
  43  LightSwitch        -1.675         1.442          3.610          0              180            0
  44  Toilet             -2.579         0.032          0.656          0              180            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

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