Task: Put a clean bar of soap on the toilet.

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          0.901          -1.0           0              270            0
   1  Cloth              -1.524         0.291          -2.517         0              0              0              30
   2  Candle             -2.483         0.764          -2.123         0              0              0              17
   3  SoapBottle         -2.337         1.045          -0.230         0              90             0              32
   4  SoapBottle         -0.241         0.876          -1.461         0              0              0              19
   5  Towel              -0.106         1.541          -2.487         0              270            0              24
   6  Towel              -2.424         1.541          -2.487         0              90             0              23
   7  Candle             -2.337         1.086          -0.558         0              90             0              32
   8  HandTowel          -2.496         1.836          -0.907         0              270            0              27
   9  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  10  SoapBottle         -2.306         1.045          -0.361         0              90             0              32
  11  SoapBar            -2.398         1.045          -0.492         0              90             0              32
  12  ToiletPaper        -0.241         0.872          -1.702         0              0              0              19
  13  Cloth              -1.780         0.291          -2.517         0              0              0              30
  14  ToiletPaper        -1.490         1.049          -0.110         0              180            90             26
  15  SprayBottle        -2.276         1.046          -0.492         0              90             0              32
  16  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  17  Bathtub            -1.281         0.277          -2.529         0              0              0
  18  Mirror             -2.512         1.764          -1.518         0              0              0
  19  SideTable          -0.153         0.000          -1.465         0              270            0
  20  Sink               -2.273         0.0            -1.519         0              90             0
  21  Drawer             -0.218         0.775          -1.466         0              270            0
  22  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  23  TowelHolder        -2.530         1.526          -2.486         0              90             0
  24  TowelHolder        0.0            1.526          -2.486         0              270            0
  25  LightSwitch        0.0            1.324          -1.146         0              270            0
  26  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  27  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  28  Window             -1.291         1.815          -3.121         90             0              0
  29  SinkBasin          -2.216         0.905          -1.503         0              90             0
  30  SinkBasin          -1.305         0.280          -2.516         0              0              0
  31  HousePlant         -0.108         0.870          -1.649         0              0              0
  32  Toilet             -2.045         0.000          -0.358         0              180            0
  33  Faucet             -2.446         0.940          -1.516         0              90             0
  34  Faucet             -0.132         0.706          -2.877         0              29.999         0
  35  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  36  EastWall
  37  EastWall
  38  SouthWall

Plan:
STEP 1: Look down to the trash can. | STEP 2: Pick up the soap on the back of the toilet. | STEP 3: Go to the sink on the left. | STEP 4: Rinse the soap off in the sink. | STEP 5: Turn right to face the toilet. | STEP 6: Put the clean soap on the back of the toilet. | END