Task: Pick up soap from toilet, use it, wash hands, place it back.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.0           0.900          3.25           0              0              0
   1  SoapBar            -3.451         0.826          1.862          0              0              0              15
   2  Towel              -4.739         1.522          2.425          0              90             0              28
   3  HandTowel          -0.923         1.59           2.018          0              90             0              32
   4  Candle             -1.211         0.546          2.039          0              0              0              16
   5  HandTowel          -3.726         1.646          1.330          0              180            0              33
   6  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
   7  SoapBar            -0.987         1.044          4.263          0              270            0              35
   8  ToiletPaper        -1.401         0.534          1.780          0              0              0              16
   9  Cloth              -1.509         0.887          1.744          0              0              0              31
  10  ToiletPaper        -0.968         0.888          3.960          0              270            270            36
  11  Towel              -4.739         1.522          3.359          0              90             0              27
  12  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  13  SoapBottle         -2.192         0.828          1.756          0              0              0              15
  14  SprayBottle        -1.086         0.121          3.608          0              0              0              34
  15  CounterTop         -2.177         0.782          1.889          0              0              0
  16  Drawer             -1.307         0.606          1.890          0              0              0
  17  Drawer             -1.307         0.337          1.890          0              0              0
  18  Faucet             -4.646         0.448          1.689          0              0              0
  19  ShowerDoor         -4.873         1.235          3.947          0              0              0
  20  Drawer             -3.029         0.337          1.890          0              0              0
  21  Drawer             -2.169         0.606          1.890          0              0              0
  22  Drawer             -3.029         0.606          1.890          0              0              0
  23  Bathtub            -4.080         0.297          2.480          0              345.000        0
  24  Drawer             -2.169         0.337          1.890          0              0              0
  25  Mirror             -2.177         1.856          1.390          0              0              0
  26  Sink               -1.421         0.837          1.776          0              0              0
  27  TowelHolder        -4.846         1.508          3.358          0              90             0
  28  TowelHolder        -4.846         1.508          2.424          0              90             0
  29  LightSwitch        -2.165         1.450          4.972          0              180            0
  30  BathtubBasin       -4.309         0.192          2.328          0              270            0
  31  SinkBasin          -1.442         0.874          1.785          0              0              0
  32  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  33  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  34  GarbageCan         -1.116         -0.037         3.598          0              270            0
  35  Toilet             -1.340         -0.000         4.456          0              0              0
  36  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  37  Faucet             -1.421         0.954          1.507          0              0              0
  38  ShowerHead         -5.257         1.733          4.030          0              90             0
  39  Faucet             -2.944         0.954          1.507          0              0              0
  40  Sink               -2.943         0.837          1.776          0              0              0
  41  SinkBasin          -2.964         0.874          1.785          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Go straight, turn right towards toilet. | STEP 2: Pick up soap near toilet. | STEP 3: Turn right, then turn left, go to sink. | STEP 4: Turn sink on, wash with soap. | STEP 5: Pick soap back up, turn left. | STEP 6: go straight, towards toilet, place soap back onto rack. | END