Task: Put a clean bar of soap on the counter top.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.901          2.5            0              90             0
   1  SoapBar            -1.831         0.953          1.759          0              180            0              35
   2  SoapBar            -1.542         0.040          3.448          0              0              0              26
   3  SoapBar            -1.403         0.074          1.404          0              0              0              32
   4  Candle             -1.885         0.953          2.009          0              180            0              35
   5  SprayBottle        -1.755         0.915          3.172          0              0              0              23
   6  SprayBottle        -1.643         0.037          3.316          0              0              0              26
   7  SoapBottle         -1.593         0.041          3.633          0              0              0              29
   8  SoapBottle         -1.938         0.953          2.071          0              90             0              35
   9  Candle             -1.694         0.040          3.227          0              0              0              26
  10  HandTowel          -1.670         1.496          3.962          0              0              0              33
  11  SoapBottle         -1.643         0.041          3.811          0              0              0              29
  12  Towel              0.833          1.160          2.357          0              0              0              30
  13  Cloth              -1.695         0.031          3.040          0              0              0              26
  14  SoapBar            -1.745         0.040          3.811          0              0              0              29
  15  ToiletPaper        -1.140         1.013          1.256          0              0              90             31
  16  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  17  SprayBottle        -1.858         0.950          1.884          0              180            0              35
  18  ToiletPaper        -1.476         0.042          1.372          0              0              0              32
  19  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  20  Cabinet            -1.479         0.348          2.362          0              0              0
  21  Cabinet            -1.483         0.372          3.152          0              0              0
  22  Sink               -1.746         0.884          3.553          0              90             0
  23  CounterTop         -1.758         0.669          3.164          0              0              0
  24  Faucet             -1.894         1.006          2.730          0              0              0
  25  Mirror             -1.943         1.532          3.443          0              0              0
  26  Cabinet            -1.479         0.348          3.170          0              0              0
  27  ShowerDoor         0.527          1.039          2.098          0              0              0
  28  Painting           -0.566         1.591          1.173          0              0              0
  29  Cabinet            -1.483         0.372          3.960          0              0              0
  30  TowelHolder        0.833          1.146          2.250          0              0              0
  31  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  32  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  33  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  34  LightSwitch        1.249          1.322          3.635          0              270            0
  35  Toilet             -1.447         0.000          1.961          0              90             0
  36  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  37  ShowerHead         0.871          1.097          2.009          0              270            0
  38  Faucet             -1.894         1.006          3.560          0              0              0
  39  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  40  Sink               -1.746         0.884          2.723          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and go to the cabinet underneath the right sink across from you.  | STEP 2: Pull out the bar of soap from the cabinet.  | STEP 3: Place the bar of soap in the right sink, turn the water on, rinse the bar of soap off, turn the water off, and remove the bar of soap from the sink.  | STEP 4: Move over to the left so that you are in front of the counter top.  | STEP 5: Place the bar of soap on the counter top, between the two sinks.  | END