Task: Put the rinsed soap 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              -0.75          0.901          2.5            0              180            0
   1  SprayBottle        -0.077         0.954          1.294          0              0              0              30
   2  Candle             -0.079         0.954          2.913          0              0              0              22
   3  SoapBottle         -0.388         0.955          2.878          0              0              0              22
   4  HandTowel          -0.038         1.619          1.887          0              90             0              28
   5  HandTowel          -0.038         1.619          3.799          0              90             0              29
   6  Towel              -1.082         1.326          1.302          0              0              0              25
   7  SoapBar            -0.326         0.954          2.807          0              0              0              22
   8  ToiletPaper        -0.202         0.951          2.843          0              0              0              22
   9  Plunger            -0.112         -0.000         1.848          0              0              0
  10  Candle             -0.229         0.075          2.381          0              0              0              24
  11  ToiletPaper        -0.179         0.073          2.609          0              0              0              19
  12  SprayBottle        -0.381         0.076          2.202          0              0              0              24
  13  Cloth              -0.230         0.076          3.417          0              0              0              23
  14  ScrubBrush         -0.322         3.109          1.950          0              0              0
  15  SoapBottle         -0.381         0.076          3.055          0              0              0              18
  16  Mirror             -0.030         1.544          2.864          0              0              0
  17  Sink               -0.302         0.799          3.263          0              270            0
  18  Cabinet            -0.491         0.404          2.863          0              0              0
  19  Cabinet            -0.495         0.384          2.842          0              0              0
  20  ShowerDoor         -1.647         1.017          1.180          0              0              0
  21  ShowerGlass        -0.909         0.788          0.485          0              0              0
  22  CounterTop         -0.261         0.927          2.843          0              0              0
  23  Cabinet            -0.495         0.384          3.650          0              0              0
  24  Cabinet            -0.491         0.404          2.055          0              0              0
  25  TowelHolder        -1.082         1.312          1.195          0              0              0
  26  LightSwitch        -2.424         1.447          3.338          0              90             0
  27  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  28  HandTowelHolder    0.000          1.721          1.887          0              180            0
  29  HandTowelHolder    0.000          1.721          3.799          0              180            0
  30  Toilet             -0.542         3.109          1.493          0              270            0
  31  GarbageCan         -2.159         -0.000         3.756          0              0              0
  32  SinkBasin          -0.308         0.820          3.266          0              0              0
  33  ShowerHead         -0.134         1.888          0.564          0              90             0
  34  Faucet             0.0            1.009          3.265          0              0              0
  35  Faucet             0.0            1.009          2.421          0              0              0
  36  SinkBasin          -0.308         0.820          2.422          0              0              0
  37  Sink               -0.302         0.799          2.419          0              270            0
  38  NorthWall
  39  SouthWall
  40  SouthWall

Plan:
STEP 1: Turn left and face toward the bathroom counter between the sinks | STEP 2: Pick up the soap bar from the bathroom counter | STEP 3: Move slightly right then turn left to face the sink | STEP 4: Rinse the soap under water in the sink then remove it | STEP 5: Move slightly left then turn right to face the counter | STEP 6: Put the soap bar on the counter just right of the pump bottle | END