Task: put wet 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          0.5            0              180            0
   1  Cloth              -1.488         0.244          2.132          0              0              0              25
   2  Cloth              -1.529         0.244          2.400          0              0              0              25
   3  SoapBar            -1.543         0.731          2.676          0              0              0              23
   4  SoapBar            -1.446         0.239          1.731          0              0              0              25
   5  SoapBar            -1.768         0.044          1.374          0              180            0              34
   6  Candle             -1.801         0.772          2.877          0              0              0              23
   7  Candle             -1.372         0.772          2.827          0              0              0              23
   8  SoapBottle         -1.848         1.046          0.748          0              90             0              37
   9  SoapBottle         -1.801         0.731          2.726          0              0              0              23
  10  ToiletPaper        -1.570         0.235          3.062          0              0              0              22
  11  Candle             -1.629         0.772          2.827          0              0              0              23
  12  HandTowel          -1.513         1.461          3.962          0              0              0              29
  13  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  14  Towel              0.871          1.172          2.356          0              0              0              28
  15  SoapBottle         -1.372         0.731          2.726          0              0              0              23
  16  SoapBar            -1.372         0.731          2.977          0              0              0              23
  17  ToiletPaper        -1.873         1.042          0.879          0              90             0              37
  18  Cloth              -1.488         0.244          3.596          0              0              0              22
  19  ToiletPaper        -1.715         0.728          2.927          0              0              0              23
  20  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  21  SprayBottle        -1.899         1.047          0.616          0              90             0              37
  22  Drawer             -1.335         0.301          3.329          0              0              0
  23  CounterTop         -1.608         0.701          2.831          0              0              0
  24  ShowerDoor         0.564          1.018          1.115          0              0              0
  25  Drawer             -1.335         0.301          2.132          0              0              0
  26  Mirror             -1.924         1.414          2.759          0              0              0
  27  Sink               -1.695         0.616          2.283          0              90             0
  28  TowelHolder        0.870          1.157          2.25           0              0              0
  29  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  30  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  31  Window             -1.037         1.399          0.019          90             0              0
  32  Window             -1.986         1.396          0.707          90             90             0
  33  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  34  GarbageCan         -1.739         -0.031         1.268          0              90             0
  35  LightSwitch        1.25           1.273          3.634          0              270            0
  36  SinkBasin          -1.674         0.633          2.274          0              270            0
  37  Toilet             -1.547         0.000          0.685          0              180            0
  38  Sink               -1.695         0.616          3.365          0              90             0
  39  SinkBasin          -1.674         0.633          3.355          0              270            0
  40  ShowerHead         0.853          1.797          1.108          0              180            0
  41  Faucet             -1.926         0.721          2.285          0              90             0
  42  Faucet             -1.926         0.721          3.368          0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn right, take a step, turn right, walk forward, turn left, walk to counter | STEP 2: pick up the pink bar of soap that is on the counter | STEP 3: put the pink bar of soap in the sink on the right, fill the sink with water, take the bar of soap out | STEP 4: turn around, take a step, turn right, take a few steps, turn right to face sink | STEP 5: put the soap on the counter to the right of the sink | END