Task: Put the rinsed soap bar on the bathroom counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          1.75           0              180            0
   1  Cloth              0.390          0.216          3.312          0              0              0              29
   2  Candle             0.390          0.213          2.819          0              0              0              27
   3  SprayBottle        0.593          1.046          1.336          0              270            0              38
   4  SprayBottle        0.477          0.208          3.803          0              0              0              34
   5  Towel              -0.442         1.375          1.282          0              0              0              31
   6  ToiletPaper        0.563          1.041          1.270          0              270            0              38
   7  SoapBottle         0.596          0.809          3.415          0              225            0              26
   8  HandTowel          0.634          1.512          3.564          0              90             0              37
   9  Towel              0.609          1.376          0.583          0              270            0              30
  10  SoapBar            0.257          0.819          3.403          0              0              0              26
  11  ToiletPaper        0.308          0.615          1.912          0              180            90             33
  12  ToiletPaper        0.563          1.041          1.467          0              270            0              38
  13  Candle             0.334          0.212          2.115          0              0              0              19
  14  ScrubBrush         0.553          0.000          1.725          0              0              0
  15  Cloth              0.390          0.517          3.352          0              0              0              18
  16  Plunger            0.594          -0.000         1.898          0              0              0
  17  SprayBottle        0.521          0.820          3.349          0              180            0              26
  18  Drawer             0.443          0.624          3.310          0              0              0
  19  Drawer             0.443          0.323          2.194          0              0              0
  20  ShowerDoor         -0.923         1.032          1.155          0              0              0
  21  Sink               0.495          0.661          2.756          0              270            0
  22  Drawer             0.443          0.624          2.193          0              0              0
  23  Faucet             0.717          0.982          2.756          0              0              0
  24  Mirror             0.629          1.532          2.697          0              0              0
  25  ShowerGlass        -0.152         1.266          1.156          0              0              0
  26  CounterTop         0.458          0.789          2.759          0              0              0
  27  Drawer             0.443          0.323          2.566          0              0              0
  28  Drawer             0.443          0.323          2.937          0              0              0
  29  Drawer             0.443          0.323          3.310          0              0              0
  30  TowelHolder        0.716          1.361          0.583          0              270            0
  31  TowelHolder        -0.442         1.361          1.175          0              0              0
  32  LightSwitch        -1.749         1.429          3.325          0              90             0
  33  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  34  GarbageCan         0.412          -0.029         3.728          0              0              0
  35  SinkBasin          0.440          0.667          2.746          0              270            0
  36  HandTowelHolder    0.673          1.613          1.891          0              180            0
  37  HandTowelHolder    0.673          1.613          3.563          0              180            0
  38  Toilet             0.270          0.000          1.463          0              0              0
  39  ShowerHead         -1.705         1.894          0.587          0              270            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around, walk a few feet, then turn right and approach the left side of the counter | STEP 2: Pick up the soap bar from the counter | STEP 3: Move a few feet right then turn back to face the sink | STEP 4: Rinse the soap under water in the sink then remove it | STEP 5: Turn left then right to face the sink again | STEP 6: Put the soap bar down on the counter just right of the sink | END