Task: Put a clean bar of 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              -1.75          0.901          -2.25          0              0              0
   1  SoapBar            -2.532         0.806          -2.394         0              0              0              24
   2  Candle             -2.443         0.815          -2.263         0              0              0              24
   3  Candle             -2.884         0.815          -3.823         0              0              0              24
   4  SprayBottle        -2.443         0.807          -2.656         0              0              0              24
   5  SoapBottle         -2.443         0.808          -3.532         0              0              0              24
   6  Candle             -2.387         0.075          -2.552         0              0              0              21
   7  Cloth              -2.764         0.066          -3.568         0              0              0              22
   8  HandTowel          -2.962         1.584          -3.550         0              270            0              27
   9  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  10  SoapBar            -2.538         0.066          -3.568         0              0              0              22
  11  ToiletPaper        -0.365         0.054          -3.86          0              0              0              31
  12  ToiletPaper        -2.462         0.062          -2.552         0              0              0              21
  13  Towel              -1.291         1.386          -0.63          0              270            0              25
  14  SoapBottle         -0.160         1.047          -2.983         0              270            0              33
  15  SprayBottle        -0.068         1.046          -3.114         0              270            0              33
  16  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  17  Cabinet            -2.293         0.324          -3.254         0              0              0
  18  Mirror             -3.0           1.659          -3.069         0              0              0
  19  Sink               -2.661         0.785          -3.069         0              90             0
  20  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  21  Cabinet            -2.299         0.345          -2.250         0              0              0
  22  Cabinet            -2.293         0.324          -3.814         0              0              0
  23  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  24  CounterTop         -2.632         0.843          -3.040         0              0              0
  25  TowelHolder        -1.184         1.371          -0.629         0              270            0
  26  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  27  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  28  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  29  Window             -0.567         1.706          -4.002         90             0              0
  30  SinkBasin          -2.669         0.863          -3.063         0              90             0
  31  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  32  LightSwitch        -1.945         1.503          0.000          0              180            0
  33  Toilet             -0.452         0.000          -3.052         0              0              0
  34  Faucet             -3.0           1.167          -3.073         0              180            0
  35  ShowerHead         -0.614         1.934          -0.013         0              0              0
  36  EastWall
  37  EastWall
  38  SouthWall

Plan:
STEP 1: Turn around and go to the sink on your right.  | STEP 2: Pick up the bar of soap to the right of the spray bottle on the counter.  | STEP 3: Go to the sink ahead of you.  | STEP 4: Place the bar of soap in the sink, turn the water on, rinse off the bar of soap, turn the water off, and remove the bar of soap from the sink.  | STEP 5: Turn to your right and go around the counter so that you are facing the sink from the end of the counter.  | STEP 6: Place the bar of soap back on the counter, near the edge.  | END