Task: 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              -2.5           0.901          -0.5           0              180            0
   1  Candle             -0.129         1.054          -3.048         0              270            0              33
   2  SprayBottle        -0.349         0.063          -3.848         0              0              0              31
   3  SoapBottle         -2.620         0.808          -3.823         0              0              0              24
   4  SoapBottle         -2.620         0.808          -2.394         0              0              0              24
   5  ToiletPaper        -0.068         1.042          -2.852         0              270            0              33
   6  Candle             -2.764         0.075          -3.023         0              0              0              22
   7  Cloth              -2.462         0.066          -3.506         0              0              0              22
   8  HandTowel          -2.962         1.584          -2.569         0              270            0              28
   9  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  10  SoapBar            -2.884         0.806          -3.707         0              0              0              24
  11  ToiletPaper        -0.068         1.042          -3.114         0              270            0              33
  12  ToiletPaper        -0.160         1.042          -2.917         0              270            0              33
  13  Towel              -1.291         1.386          -0.63          0              270            0              25
  14  SoapBottle         -2.443         0.808          -2.328         0              0              0              24
  15  SprayBottle        -2.764         0.067          -3.692         0              0              0              22
  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 left, turn right at the shower, turn right to face the counter to the left of the sink.  | STEP 2: Pick up the bar of soap from the counter.  | STEP 3: Move to the front of the sink.  | STEP 4: Put the soap inside of the sink, rinse it off with water, take the soap out of the sink.  | STEP 5: Walk to face the right edge of the sink.  | STEP 6: Put the soap down on the edge of the counter.  | END