Task: Put soap near the sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          1.75           0              0              0
   1  SoapBar            -2.121         0.056          3.818          0              90             0              36
   2  Candle             -0.108         0.952          3.596          0              0              0              38
   3  Candle             -0.470         0.206          2.606          0              0              0              22
   4  SprayBottle        -0.353         0.813          1.345          0              0              0              23
   5  SprayBottle        -0.161         0.954          3.846          0              0              0              38
   6  DishSponge         -0.331         0.829          1.627          0              0              0              44
   7  DishSponge         -0.414         0.206          1.408          0              0              0              26
   8  HandTowel          -0.036         1.658          3.443          0              90             0              37
   9  SoapBar            -0.161         0.952          3.471          0              0              0              38
  10  ToiletPaper        -0.180         0.945          3.719          0              0              0              38
  11  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  12  Candle             -0.097         0.812          3.260          0              0              0              23
  13  SoapBottle         -0.144         0.804          1.325          0              0              0              23
  14  ToiletPaper        -0.225         0.809          3.201          0              0              0              23
  15  SprayBottle        -0.482         0.813          2.137          0              0              0              23
  16  Towel              -1.106         1.151          1.289          0              0              0              35
  17  Cloth              -0.302         0.205          3.012          0              0              0              22
  18  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  19  DishSponge         -0.268         0.829          1.772          0              0              0              44
  20  Sink               -0.299         0.807          2.754          0              270            0
  21  Drawer             -0.319         0.615          3.012          0              0              0
  22  Drawer             -0.319         0.316          3.012          0              0              0
  23  CounterTop         -0.349         0.004          1.453          0              0              0
  24  Drawer             -0.319         0.615          1.978          0              0              0
  25  Drawer             -0.319         0.316          1.978          0              0              0
  26  Drawer             -0.319         0.316          1.463          0              0              0
  27  Drawer             -0.319         0.615          2.495          0              0              0
  28  ShowerDoor         -1.514         0.910          1.167          0              0              0
  29  Drawer             -0.319         0.615          1.463          0              0              0
  30  Drawer             -0.319         0.316          2.495          0              0              0
  31  Faucet             -0.076         0.805          2.757          0              0              0
  32  Mirror             -0.228         0.465          1.453          0              0              0
  33  ShowerGlass        -0.766         0.541          0.485          0              0              0
  34  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  35  TowelHolder        -1.105         1.136          1.183          0              0              0
  36  GarbageCan         -2.041         -0.000         3.724          0              45             0
  37  HandTowelHolder    0.001          1.759          3.443          0              180            0
  38  Toilet             -0.600         -0.000         3.671          0              270            0
  39  LightSwitch        -2.312         1.386          3.296          0              90             0
  40  Faucet             -0.076         0.805          1.733          0              0              0
  41  SinkBasin          -0.304         0.819          2.753          0              0              0
  42  Sink               -0.298         0.807          1.725          0              270            0
  43  ShowerHead         -0.083         1.248          0.522          0              0              0
  44  SinkBasin          -0.304         0.819          1.723          0              0              0
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn slightly left and go to the can in the corner.  | STEP 2: Pick up the soap in the can. | STEP 3: Turn around and turn left at the shower and go to the sink.  | STEP 4: Put the soap on the counter to the right of the bottle.  | STEP 5: Turn left, go to the toilet and turn right in front of it.  | STEP 6: Pick up the soap on top of the toilet.  | STEP 7: Turn right and walk toward the shower and turn left in front of the sink.  | STEP 8: Put the soap on the closest right corner.  | END