Task: Put a washed soap on the toilet tank lid.

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          1.25           0              270            0
   1  Cloth              -2.117         1.301          2.236          0              0              0              34
   2  TissueBox          -0.753         1.134          0.169          0              0              0              32
   3  TissueBox          -0.767         0.860          0.374          0              270            0              21
   4  SoapBar            -0.903         1.653          0.460          0              0              0              31
   5  Candle             -3.118         0.689          1.730          0              0              0              25
   6  Candle             -0.318         0.952          2.723          0              270            0              40
   7  SoapBottle         -0.722         1.657          0.311          0              0              0              31
   8  HandTowel          -1.296         1.765          0.040          0              180            0              38
   9  SoapBar            -3.511         0.219          1.432          0              0              0              41
  10  ToiletPaper        -0.921         1.124          0.210          0              0              0              32
  11  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  12  Candle             -0.858         0.118          0.459          0              0              0              23
  13  TissueBox          -0.872         1.134          0.466          0              0              0              32
  14  ToiletPaper        -2.010         0.843          2.190          0              0              0              24
  15  SoapBottle         -0.203         0.030          0.240          0              0              0              43
  16  SprayBottle        -2.180         1.584          2.240          0              0              0              30
  17  Towel              -2.760         1.569          0.107          0              0              0              35
  18  Cloth              -3.574         0.219          0.777          0              0              0              41
  19  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  20  Cabinet            -2.344         0.457          0.524          0              0              0
  21  Drawer             -0.813         0.956          0.384          0              270            0
  22  Cabinet            -1.891         0.443          1.982          0              0              0
  23  Cabinet            -0.605         0.457          0.524          0              0              0
  24  Drawer             -2.032         0.942          2.190          0              0              0
  25  Bathtub            -3.450         0.178          1.029          0              0              0
  26  CounterTop         -1.919         0.0            0.288          0              0              0
  27  Sink               -1.924         0.772          0.326          0              0              0
  28  Mirror             -1.934         1.666          0.107          0              0              0
  29  Faucet             -1.925         0.958          0.179          0              0              0
  30  Cabinet            -1.891         1.884          2.391          0              0              0
  31  Cabinet            -0.605         1.988          0.524          0              0              0
  32  CounterTop         -0.812         0.093          0.288          0              0              0
  33  Shelf              -2.029         1.183          2.189          0              0              0
  34  Shelf              -2.123         1.393          2.189          0              0              0
  35  TowelHolder        -2.760         1.555          0.000          0              0              0
  36  LightSwitch        0.0            1.427          1.993          0              270            0
  37  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  38  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  39  Window             -4.149         1.717          1.154          90             270            0
  40  Toilet             -0.456         -0.000         2.257          0              180            0
  41  BathtubBasin       -3.520         0.210          0.940          0              0              0
  42  SinkBasin          -1.931         0.841          0.320          0              0              0
  43  GarbageCan         -0.257         -0.000         0.259          0              0              0
  44  ShowerHead         -3.522         1.719          1.776          0              0              0
  45  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn around, go to the cabinet past the sink on the right. | STEP 2: Take the soap out of the upper cabinet.  | STEP 3: Bring the soap to the sink on the right.  | STEP 4: Wash the soap in the sink with water. | STEP 5: Bring the soap to the toilet, on the other side of the room from the sink. | STEP 6: Put the washed soap on the toilet tank lid.  | END