Task: Set a clean bar of soap on the back of the toilet.

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              0              0
   1  TissueBox          -1.561         0.069          3.793          0              0              0              31
   2  SoapBar            -1.560         0.067          2.240          0              0              0              25
   3  SoapBar            -1.219         0.994          2.269          0              0              0              30
   4  SoapBar            -1.322         0.068          2.857          0              0              0              23
   5  SprayBottle        -1.284         0.995          2.118          0              0              0              30
   6  SprayBottle        0.313          0.048          3.865          0              0              0              33
   7  SoapBottle         -1.379         0.067          3.176          0              0              0              29
   8  SoapBottle         -1.441         0.068          2.908          0              0              0              29
   9  ToiletPaper        -1.284         0.991          2.982          0              0              0              30
  10  Towel              -0.200         1.174          1.286          0              0              0              32
  11  HandTowel          -1.275         1.6            3.961          0              0              0              34
  12  SoapBar            -1.613         0.994          2.269          0              0              0              30
  13  ToiletPaper        0.356          0.809          1.299          0              270            270            38
  14  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  15  Candle             -1.382         0.068          2.807          0              0              0              23
  16  TissueBox          -1.561         0.069          2.807          0              0              0              23
  17  SoapBottle         -1.500         0.067          2.341          0              0              0              25
  18  ToiletPaper        0.351          0.889          1.618          0              0              0              36
  19  SprayBottle        -1.613         0.995          3.842          0              0              0              30
  20  Cloth              -1.350         0.994          3.873          0              0              0              30
  21  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  22  Mirror             -1.703         1.661          3.509          0              0              0
  23  Cabinet            -1.187         0.394          3.030          0              0              0
  24  ShowerDoor         -1.631         1.014          1.170          0              0              0
  25  Cabinet            -1.187         0.394          2.127          0              0              0
  26  Sink               -1.326         0.960          2.567          0              90             0
  27  ShowerGlass        0.254          0.788          0.485          0              0              0
  28  Mirror             -1.703         1.661          2.480          0              0              0
  29  Cabinet            -1.187         0.394          3.063          0              0              0
  30  CounterTop         -1.348         0.972          2.945          0              0              0
  31  Cabinet            -1.187         0.394          3.966          0              0              0
  32  TowelHolder        -0.200         1.160          1.179          0              0              0
  33  GarbageCan         0.209          0.000          3.772          0              0              0
  34  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  35  Window             -0.726         1.667          -0.009         90             0              0
  36  Toilet             -0.039         0.090          1.733          0              270            0
  37  SinkBasin          -1.317         0.998          2.567          0              90             0
  38  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  39  LightSwitch        0.444          1.368          3.323          0              270            0
  40  Faucet             -1.587         0.960          3.513          0              90             0
  41  ShowerHead         -1.618         1.251          0.558          0              180            0
  42  Sink               -1.325         0.960          3.512          0              90             0
  43  SinkBasin          -1.317         0.998          3.513          0              90             0
  44  Faucet             -1.587         0.960          2.569          0              90             0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk over to the vanity. | STEP 2: Take a bar of soap out of the cabinet under the sink. | STEP 3: Go to the sink. | STEP 4: Rinse off the soap in the sink. | STEP 5: Take the rinsed soap to the toilet across the room. | STEP 6: Set the rinsed soap down on the back of the toilet. | END