Task: Put a clean bar of soap on the toilet tank.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.901          -0.75          0              90             0
   1  Cloth              -1.780         0.291          -2.459         0              0              0              35
   2  Cloth              -0.501         0.291          -2.631         0              0              0              35
   3  SprayBottle        -0.125         0.877          -1.380         0              90             0              24
   4  Candle             -0.045         0.764          -2.285         0              0              0              22
   5  SoapBar            -0.241         0.876          -1.702         0              0              0              24
   6  SoapBar            -0.202         0.876          -1.541         0              0              0              24
   7  SoapBar            -0.280         0.876          -1.380         0              0              0              24
   8  SoapBottle         -2.459         0.723          -2.095         0              0              0              22
   9  SoapBottle         -2.398         1.045          -0.295         0              90             0              37
  10  ToiletPaper        -1.490         1.049          -0.110         0              180            90             31
  11  Towel              -0.106         1.541          -2.487         0              270            0              29
  12  Candle             -2.276         1.086          -0.427         0              90             0              37
  13  HandTowel          -2.496         1.836          -0.907         0              270            0              32
  14  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  15  SoapBottle         -2.337         1.045          -0.164         0              90             0              37
  16  SoapBar            -2.398         1.045          -0.558         0              90             0              37
  17  ToiletPaper        -2.306         1.042          -0.558         0              90             0              37
  18  Cloth              -1.524         0.291          -2.459         0              0              0              35
  19  ToiletPaper        -0.086         0.872          -1.461         0              0              0              24
  20  SprayBottle        -0.086         0.877          -1.380         0              270            0              24
  21  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  22  Bathtub            -1.281         0.277          -2.529         0              0              0
  23  Mirror             -2.512         1.764          -1.518         0              0              0
  24  SideTable          -0.153         0.000          -1.465         0              270            0
  25  Sink               -2.273         0.0            -1.519         0              90             0
  26  Drawer             -0.218         0.775          -1.466         0              270            0
  27  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  28  TowelHolder        -2.530         1.526          -2.486         0              90             0
  29  TowelHolder        0.0            1.526          -2.486         0              270            0
  30  LightSwitch        0.0            1.324          -1.146         0              270            0
  31  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  32  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  33  Window             -1.291         1.815          -3.121         90             0              0
  34  SinkBasin          -2.216         0.905          -1.503         0              90             0
  35  SinkBasin          -1.305         0.280          -2.516         0              0              0
  36  HousePlant         -0.108         0.870          -1.649         0              0              0
  37  Toilet             -2.045         0.000          -0.358         0              180            0
  38  Faucet             -2.446         0.940          -1.516         0              90             0
  39  Faucet             -0.132         0.706          -2.877         0              29.999         0
  40  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: Turn right and walk towards the tub, then hang a right and walk up to the green bin. | STEP 2: Pick up the bar of soap off of the toilet tank to your right. | STEP 3: Walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple of seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn right and walk over to the toilet. | STEP 6: Put the clean bar of soap on top of the toilet tank. | END