Task: Rinse a bar of 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              -1.25          0.901          2.5            0              0              0
   1  Cloth              -3.508         0.219          1.309          0              0              0              42
   2  TissueBox          -1.895         0.201          0.350          0              90             0              28
   3  TissueBox          -1.435         0.508          0.406          0              90             0              31
   4  SprayBottle        -0.865         0.033          3.105          0              204.683        0              35
   5  SprayBottle        -0.805         0.805          0.221          0              90             0              26
   6  SoapBottle         -1.853         0.809          0.221          0              180            0              26
   7  SoapBottle         -1.853         0.809          0.352          0              90             0              26
   8  Towel              -2.554         0.873          0.106          0              0              0              34
   9  Cloth              -1.269         0.201          0.406          0              90             0              31
  10  Candle             -3.043         0.690          1.111          0              0              0              27
  11  HandTowel          -0.038         1.68           2.956          0              90             0              37
  12  SoapBar            -0.727         0.982          3.184          0              180            0              22
  13  ToiletPaper        -1.067         0.805          0.286          0              90             0              26
  14  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  15  SprayBottle        -0.281         0.805          0.155          0              90             0              26
  16  TissueBox          -0.808         0.203          0.294          0              90             0              25
  17  ToiletPaper        -3.109         0.688          1.739          0              0              0              27
  18  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  19  SoapBottle         -0.543         0.809          0.417          0              90             0              26
  20  Drawer             -1.324         0.312          0.311          0              90             0
  21  Drawer             -0.290         0.312          0.311          0              90             0
  22  Sink               -0.463         -0.013         3.046          0              180            0
  23  Mirror             -0.504         1.741          3.304          0              0              0
  24  Drawer             -0.808         0.611          0.311          0              90             0
  25  Drawer             -0.808         0.312          0.311          0              90             0
  26  CounterTop         -1.850         0.001          0.342          0              90             0
  27  Bathtub            -3.499         0.148          0.939          0              0              0
  28  Drawer             -1.840         0.312          0.311          0              90             0
  29  Faucet             -0.463         0.969          3.212          0              180            0
  30  Drawer             -0.290         0.611          0.311          0              90             0
  31  Drawer             -1.324         0.611          0.311          0              90             0
  32  Drawer             -1.840         0.611          0.311          0              90             0
  33  TowelHolder        -2.553         1.582          0.0            0              0              0
  34  TowelHolder        -2.553         0.859          0.0            0              0              0
  35  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  36  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  37  HandTowelHolder    0.0            1.781          2.956          0              180            0
  38  LightSwitch        0.0            1.368          1.993          0              270            0
  39  Window             -4.083         1.735          1.162          90             270            0
  40  Toilet             -1.835         0.000          2.503          0              90             0
  41  SinkBasin          -0.452         0.888          2.969          0              180            0
  42  BathtubBasin       -3.518         0.210          0.939          0              0              0
  43  ShowerHead         -3.540         1.821          1.820          0              0              0
  44  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Take a few steps to the right, to the sink. | STEP 2: Pick up the bar of soap from the back of the sink. | STEP 3: Hold the soap and move slightly left to still face the sink. | STEP 4: Place the soap in the sink and turn on the water. Turn off the water and pick up the soap.  | STEP 5: Carry the soap and face to the left. | STEP 6: Place the soap in the trash can below. | END