Task: rinse the soap and put it under the sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          2.25           0              180            0
   1  Cloth              -1.643         0.039          3.811          0              0              0              25
   2  SoapBar            -1.831         0.953          1.759          0              180            0              31
   3  SoapBar            -1.542         0.040          2.870          0              0              0              17
   4  Candle             -1.755         0.917          2.382          0              0              0              19
   5  Candle             -1.519         0.917          3.097          0              0              0              19
   6  HandTowel          -1.670         1.496          3.962          0              0              0              29
   7  SoapBottle         -1.814         0.918          3.933          0              270            0              19
   8  Towel              0.833          1.160          2.357          0              0              0              26
   9  Cloth              -1.744         0.039          3.360          0              0              0              22
  10  SoapBar            -1.694         0.040          2.508          0              0              0              16
  11  ToiletPaper        -1.885         0.950          2.071          0              180            0              31
  12  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  13  SprayBottle        -1.885         0.950          1.759          0              180            0              31
  14  ToiletPaper        -1.476         0.042          1.372          0              0              0              28
  15  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  16  Cabinet            -1.479         0.348          2.362          0              0              0
  17  Cabinet            -1.483         0.372          3.152          0              0              0
  18  Sink               -1.746         0.884          3.553          0              90             0
  19  CounterTop         -1.758         0.669          3.164          0              0              0
  20  Faucet             -1.894         1.006          2.730          0              0              0
  21  Mirror             -1.943         1.532          3.443          0              0              0
  22  Cabinet            -1.479         0.348          3.170          0              0              0
  23  ShowerDoor         0.527          1.039          2.098          0              0              0
  24  Painting           -0.566         1.591          1.173          0              0              0
  25  Cabinet            -1.483         0.372          3.960          0              0              0
  26  TowelHolder        0.833          1.146          2.250          0              0              0
  27  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  28  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  29  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  30  LightSwitch        1.249          1.322          3.635          0              270            0
  31  Toilet             -1.447         0.000          1.961          0              90             0
  32  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  33  ShowerHead         0.871          1.097          2.009          0              270            0
  34  Faucet             -1.894         1.006          3.560          0              0              0
  35  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  36  Sink               -1.746         0.884          2.723          0              90             0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: walk over to the sink | STEP 2: get the bar of soap from under the sink | STEP 3: put the soap in the sink and take it back out | STEP 4: take the bar of soap to the toilet | STEP 5: put the soap bar in the cabinet under the sink | END