Task: Rinse off a bar of soap and place it 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              -1.75          0.901          1.5            0              180            0
   1  SoapBar            -0.131         0.953          1.669          0              0              0              29
   2  SoapBottle         -0.178         0.076          2.291          0              0              0              23
   3  ToiletPaper        -0.280         0.654          1.985          0              180            90             26
   4  HandTowel          -0.038         1.619          3.799          0              90             0              28
   5  Towel              -1.082         1.326          1.302          0              0              0              24
   6  SoapBar            -0.326         0.954          2.772          0              0              0              21
   7  ToiletPaper        -0.229         0.072          3.145          0              0              0              17
   8  Plunger            -0.112         -0.000         1.848          0              0              0
   9  Candle             -0.381         0.075          3.145          0              0              0              22
  10  ToiletPaper        -0.279         0.072          2.202          0              0              0              23
  11  SprayBottle        -0.202         0.955          2.948          0              0              0              21
  12  Cloth              -0.280         0.076          3.462          0              0              0              22
  13  ScrubBrush         -0.322         3.109          1.950          0              0              0
  14  SoapBottle         -0.104         0.954          1.294          0              0              0              29
  15  Mirror             -0.030         1.544          2.864          0              0              0
  16  Sink               -0.302         0.799          3.263          0              270            0
  17  Cabinet            -0.491         0.404          2.863          0              0              0
  18  Cabinet            -0.495         0.384          2.842          0              0              0
  19  ShowerDoor         -1.647         1.017          1.180          0              0              0
  20  ShowerGlass        -0.909         0.788          0.485          0              0              0
  21  CounterTop         -0.261         0.927          2.843          0              0              0
  22  Cabinet            -0.495         0.384          3.650          0              0              0
  23  Cabinet            -0.491         0.404          2.055          0              0              0
  24  TowelHolder        -1.082         1.312          1.195          0              0              0
  25  LightSwitch        -2.424         1.447          3.338          0              90             0
  26  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  27  HandTowelHolder    0.000          1.721          1.887          0              180            0
  28  HandTowelHolder    0.000          1.721          3.799          0              180            0
  29  Toilet             -0.542         3.109          1.493          0              270            0
  30  GarbageCan         -2.159         -0.000         3.756          0              0              0
  31  SinkBasin          -0.308         0.820          3.266          0              0              0
  32  ShowerHead         -0.134         1.888          0.564          0              90             0
  33  Faucet             0.0            1.009          3.265          0              0              0
  34  Faucet             0.0            1.009          2.421          0              0              0
  35  SinkBasin          -0.308         0.820          2.422          0              0              0
  36  Sink               -0.302         0.799          2.419          0              270            0
  37  NorthWall
  38  SouthWall
  39  SouthWall

Plan:
STEP 1: Turn around and turn right to go to the sinks. | STEP 2: Pick up the bar of soap from in between the sinks. | STEP 3: Take a step to the right to face the sink. | STEP 4: Place the soap in the sink, turn the water on and then off. Pick up the soap. | STEP 5: Carry the soap and take a step to the left. | STEP 6: Place the soap on the counter in between the sinks. | END