Task: To rinse off a bar of soap and put it 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              -1.25          0.901          1.25           0              270            0
   1  Candle             -1.848         1.087          0.551          0              90             0              32
   2  SprayBottle        -1.735         0.046          1.298          0              180            0              29
   3  SprayBottle        -1.801         0.732          2.676          0              0              0              18
   4  SoapBottle         -1.458         0.731          2.827          0              0              0              18
   5  SoapBottle         -1.458         0.731          2.927          0              0              0              18
   6  Candle             -1.372         0.772          2.726          0              0              0              18
   7  HandTowel          -1.513         1.461          3.962          0              0              0              24
   8  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
   9  Towel              0.871          1.172          2.356          0              0              0              23
  10  SoapBottle         -1.848         1.046          0.682          0              90             0              32
  11  SoapBar            -1.768         0.042          1.399          0              180            0              29
  12  ToiletPaper        -1.873         1.042          0.813          0              90             0              32
  13  Cloth              -1.570         0.243          3.463          0              0              0              17
  14  ToiletPaper        -1.874         0.722          1.860          0              0              0              20
  15  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  16  SprayBottle        -1.715         0.732          2.877          0              0              0              18
  17  Drawer             -1.335         0.301          3.329          0              0              0
  18  CounterTop         -1.608         0.701          2.831          0              0              0
  19  ShowerDoor         0.564          1.018          1.115          0              0              0
  20  Drawer             -1.335         0.301          2.132          0              0              0
  21  Mirror             -1.924         1.414          2.759          0              0              0
  22  Sink               -1.695         0.616          2.283          0              90             0
  23  TowelHolder        0.870          1.157          2.25           0              0              0
  24  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  25  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  26  Window             -1.037         1.399          0.019          90             0              0
  27  Window             -1.986         1.396          0.707          90             90             0
  28  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  29  GarbageCan         -1.739         -0.031         1.268          0              90             0
  30  LightSwitch        1.25           1.273          3.634          0              270            0
  31  SinkBasin          -1.674         0.633          2.274          0              270            0
  32  Toilet             -1.547         0.000          0.685          0              180            0
  33  Sink               -1.695         0.616          3.365          0              90             0
  34  SinkBasin          -1.674         0.633          3.355          0              270            0
  35  ShowerHead         0.853          1.797          1.108          0              180            0
  36  Faucet             -1.926         0.721          2.285          0              90             0
  37  Faucet             -1.926         0.721          3.368          0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Look down at the gray bin to the right of the toilet.  | STEP 2: Pick up the bar of soap from the gray bin.  | STEP 3: Walk to the counter to the right of the toilet.  | STEP 4: Put the bar of soap in the sink on the right, rinse off the bar of soap, pick up the bar of soap.  | STEP 5: Walk over to the left side of the counter.  | STEP 6: Put the soap down on the counter to the right of the left sink.  | END