Task: To rinse off a bar of soap and put it in the green bin.

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          0.909          2.5            0              0              0
   1  Cloth              -1.856         0.111          0.454          0              0              0              38
   2  Cloth              -3.017         0.603          1.426          0              0              0              39
   3  SoapBar            -2.130         0.599          1.072          0              0              0              28
   4  SprayBottle        -1.003         0.055          3.290          0              0              0              30
   5  SprayBottle        -3.222         0.599          1.342          0              0              0              39
   6  DishSponge         -0.885         0.970          3.007          0              180            0              23
   7  Towel              0.861          1.358          2.855          0              270            0              36
   8  HandTowel          -0.242         1.76           3.427          0              0              0              42
   9  Plunger            -0.219         0.026          0.490          0              0              0
  10  SoapBar            -0.757         1.070          0.363          0              0              0              44
  11  ToiletPaper        -2.812         0.595          1.509          0              0              0              39
  12  SoapBottle         -0.417         0.056          3.021          0              0              0              29
  13  ToiletPaper        -0.138         0.058          3.297          0              0              0              40
  14  Towel              0.402          1.389          3.359          0              0              0              37
  15  PaperTowelRoll     -0.560         1.177          0.332          0              0              0              44
  16  ScrubBrush         -0.351         0.026          0.353          0              0              0
  17  Cloth              -0.700         0.059          3.088          0              0              0              29
  18  Candle             -0.888         1.069          0.241          0              0              0              44
  19  DishSponge         -1.856         0.108          0.815          0              0              0              38
  20  SprayBottle        -2.064         0.055          3.290          0              0              0              31
  21  Window             -3.447         1.593          0.648          0              0              0
  22  Mirror             -1.386         1.595          3.464          0              0              0
  23  SinkBasin          -0.837         0.960          3.091          0              180            0
  24  ShowerDoor         -2.477         1.774          2.386          0              0              0
  25  CounterTop         -1.358         1.094          3.151          0              0              0
  26  Sink               -0.846         0.952          3.144          0              180            0
  27  Cabinet            -1.399         0.425          2.867          0              0              0
  28  Bathtub            -2.234         0.288          0.722          0              0              0
  29  Cabinet            -0.337         0.425          2.867          0              0              0
  30  Cabinet            -1.362         0.425          2.867          0              0              0
  31  Cabinet            -2.423         0.425          2.867          0              0              0
  32  ShowerGlass        -2.895         1.423          2.342          0              0              0
  33  Faucet             -0.853         1.094          3.367          0              180            0
  34  ShowerHead         -2.949         2.154          3.427          0              0              0
  35  Window             -2.190         1.550          0.086          0              0              0
  36  TowelHolder        0.967          1.343          2.855          0              270            0
  37  TowelHolder        0.402          1.375          3.466          0              180            0
  38  BathtubBasin       -2.322         0.096          0.634          0              0              0
  39  Shelf              -2.930         0.589          1.425          0              0              0
  40  GarbageCan         -0.061         -0.001         3.131          0              270            0
  41  LightSwitch        0.968          1.432          1.128          0              270            0
  42  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  43  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  44  Toilet             -0.694         0.026          0.656          0              90             0
  45  Faucet             -1.944         1.094          3.367          0              180            0
  46  Sink               -1.934         0.952          3.144          0              180            0
  47  SinkBasin          -1.926         0.960          3.091          0              180            0
  48  Faucet             -1.342         0.638          0.629          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn and walk to the tub.  | STEP 2: Pick up the bar of soap on the edge of the tub.  | STEP 3: Turn and walk to the sink on the right side.  | STEP 4: Put the bar of soap inside of the sink, rinse off the soap, pick up the soap.  | STEP 5: Walk to the green bin on the right side of the counter with the sinks.  | STEP 6: Put the soap in the green bin.  | END