Task: Rinse a bar of soap and place on a cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          0.75           0              270            0
   1  Cloth              -2.064         0.850          0.364          0              0              0              46
   2  Cloth              -1.779         0.850          0.276          0              0              0              46
   3  TissueBox          -0.767         0.861          0.374          0              270            0              25
   4  SoapBar            -0.858         0.118          0.213          0              0              0              27
   5  SoapBar            -2.132         1.583          2.240          0              0              0              34
   6  SoapBar            -0.318         0.953          2.696          0              270            0              44
   7  Candle             -0.693         1.134          0.288          0              0              0              36
   8  Candle             -3.123         0.689          0.170          0              0              0              29
   9  SprayBottle        -2.165         0.109          2.146          0              0              0              26
  10  SoapBottle         -0.813         0.121          0.360          0              0              0              27
  11  SoapBottle         -0.203         0.029          0.300          0              0              0              47
  12  HandTowel          -1.296         1.765          0.040          0              180            0              42
  13  SoapBar            -0.872         1.134          0.110          0              0              0              36
  14  ToiletPaper        -2.031         0.105          2.100          0              0              0              26
  15  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  16  Candle             -0.675         0.860          0.472          0              270            0              25
  17  TissueBox          -2.042         0.846          2.144          0              0              0              28
  18  ToiletPaper        -0.631         0.949          2.669          0              270            0              44
  19  SoapBottle         -2.076         0.111          2.237          0              0              0              26
  20  SprayBottle        -0.872         1.135          0.407          0              0              0              36
  21  Towel              -2.760         1.569          0.107          0              0              0              39
  22  Cloth              -3.574         0.219          0.449          0              0              0              45
  23  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  24  Cabinet            -2.344         0.457          0.524          0              0              0
  25  Drawer             -0.813         0.956          0.384          0              270            0
  26  Cabinet            -1.891         0.443          1.982          0              0              0
  27  Cabinet            -0.605         0.457          0.524          0              0              0
  28  Drawer             -2.032         0.942          2.190          0              0              0
  29  Bathtub            -3.450         0.178          1.029          0              0              0
  30  CounterTop         -1.919         0.0            0.288          0              0              0
  31  Sink               -1.924         0.772          0.326          0              0              0
  32  Mirror             -1.934         1.666          0.107          0              0              0
  33  Faucet             -1.925         0.958          0.179          0              0              0
  34  Cabinet            -1.891         1.884          2.391          0              0              0
  35  Cabinet            -0.605         1.988          0.524          0              0              0
  36  CounterTop         -0.812         0.093          0.288          0              0              0
  37  Shelf              -2.029         1.183          2.189          0              0              0
  38  Shelf              -2.123         1.393          2.189          0              0              0
  39  TowelHolder        -2.760         1.555          0.000          0              0              0
  40  LightSwitch        0.0            1.427          1.993          0              270            0
  41  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  42  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  43  Window             -4.149         1.717          1.154          90             270            0
  44  Toilet             -0.456         -0.000         2.257          0              180            0
  45  BathtubBasin       -3.520         0.210          0.940          0              0              0
  46  SinkBasin          -1.931         0.841          0.320          0              0              0
  47  GarbageCan         -0.257         -0.000         0.259          0              0              0
  48  ShowerHead         -3.522         1.719          1.776          0              0              0
  49  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  50  NorthWall
  51  SouthWall
  52  SouthWall

Plan:
STEP 1: Turn around and face the tall cabinet on the right. | STEP 2: Pick up the soap from the back of the cabinet. | STEP 3: Hold the soap and turn to the right.  | STEP 4: Place the soap in the sink on the left and turn on the water. Turn off the water and pick up the soap. | STEP 5: Hold the soap and turn around and face the cabinet. | STEP 6: Place the soap to the front of the cabinet, on top. | END