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              -0.25          0.901          3.75           0              270            0
   1  SoapBar            -1.814         0.918          3.097          0              0              0              21
   2  SprayBottle        -1.643         0.037          2.870          0              0              0              19
   3  SprayBottle        -1.593         0.037          2.597          0              0              0              19
   4  SoapBottle         -1.643         0.041          3.900          0              90             0              27
   5  SoapBottle         -1.846         0.041          2.870          0              90             0              19
   6  ToiletPaper        -1.795         0.037          2.508          0              0              0              18
   7  Candle             -1.696         0.917          2.382          0              0              0              21
   8  HandTowel          -1.670         1.496          3.962          0              0              0              31
   9  SoapBottle         -1.795         0.041          3.811          0              0              0              27
  10  Towel              0.833          1.160          2.357          0              0              0              28
  11  Cloth              -1.643         0.039          3.360          0              0              0              24
  12  SoapBar            -1.696         0.918          3.147          0              0              0              21
  13  ToiletPaper        -1.858         0.950          1.821          0              180            0              33
  14  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  15  SprayBottle        -1.694         0.037          2.641          0              0              0              19
  16  ToiletPaper        -1.140         1.013          1.256          0              0              90             29
  17  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  18  Cabinet            -1.479         0.348          2.362          0              0              0
  19  Cabinet            -1.483         0.372          3.152          0              0              0
  20  Sink               -1.746         0.884          3.553          0              90             0
  21  CounterTop         -1.758         0.669          3.164          0              0              0
  22  Faucet             -1.894         1.006          2.730          0              0              0
  23  Mirror             -1.943         1.532          3.443          0              0              0
  24  Cabinet            -1.479         0.348          3.170          0              0              0
  25  ShowerDoor         0.527          1.039          2.098          0              0              0
  26  Painting           -0.566         1.591          1.173          0              0              0
  27  Cabinet            -1.483         0.372          3.960          0              0              0
  28  TowelHolder        0.833          1.146          2.250          0              0              0
  29  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  30  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  31  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  32  LightSwitch        1.249          1.322          3.635          0              270            0
  33  Toilet             -1.447         0.000          1.961          0              90             0
  34  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  35  ShowerHead         0.871          1.097          2.009          0              270            0
  36  Faucet             -1.894         1.006          3.560          0              0              0
  37  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  38  Sink               -1.746         0.884          2.723          0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Go forward and turn to face the counter between the two sinks. | STEP 2: Pick the bar of soap closest to the front edge of the counter up. | STEP 3: Go to the right and stand in front of the sink on the right. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Back up and face the counter in the middle of the sinks. | STEP 6: Put the soap down on the counter between the two sinks. | END