Task: To use the soap and throw it away.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          -0.5           0              180            0
   1  Cloth              -0.757         0.291          -2.517         0              0              0              35
   2  SprayBottle        -2.253         0.053          -0.987         0              90             0              27
   3  SprayBottle        -2.459         1.046          -0.492         0              90             0              37
   4  Candle             -2.276         1.086          -0.427         0              90             0              37
   5  Candle             -0.241         0.917          -1.219         0              0              0              24
   6  SoapBar            -0.241         0.876          -1.300         0              0              0              24
   7  SoapBar            -0.128         0.722          -2.151         0              0              0              22
   8  SoapBar            -0.241         0.876          -1.380         0              0              0              24
   9  SoapBottle         -2.367         1.045          -0.295         0              90             0              37
  10  Towel              -2.424         1.541          -2.487         0              90             0              28
  11  Towel              -0.106         1.541          -2.487         0              270            0              29
  12  Candle             -0.047         0.917          -1.380         0              0              0              24
  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         -2.306         1.045          -0.558         0              90             0              37
  16  SoapBar            -0.174         0.755          -1.607         0              0              0              26
  17  ToiletPaper        -2.402         1.036          -0.173         0              0              0              37
  18  Cloth              -1.524         0.291          -2.402         0              0              0              35
  19  ToiletPaper        -1.490         1.049          -0.110         0              180            90             31
  20  SprayBottle        -2.388         1.036          -0.436         0              341.623        0              37
  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 around to face the toilet then go left towards the tub. Then turn to the right to face the table. | STEP 2: Pick up the soap that is on the edge of the tub. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the soap in the sink and turn on the water. Turn it off and pick the soap back up. | STEP 5: Walk to the right and turn to face the green garbage can next to the sink. | STEP 6: Throw the soap away into the trash can. | END