Task: Rinse a bar of soap and place it on the shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.25           0.900          -1.5           0              0              0
   1  Cloth              -1.974         0.042          -2.108         0              270            0              29
   2  Cloth              -2.085         0.042          -3.255         0              270            0              29
   3  Candle             -1.454         0.817          -0.165         0              0              0              31
   4  SprayBottle        0.726          0.815          -0.825         0              90             0              32
   5  SprayBottle        -1.252         0.815          -0.221         0              0              0              31
   6  SoapBottle         0.754          0.821          -0.724         0              90             0              32
   7  SoapBottle         -0.008         0.955          -3.874         0              90             0              27
   8  Cloth              -1.751         0.042          -3.255         0              270            0              29
   9  Candle             -1.555         0.817          -0.221         0              0              0              31
  10  HandTowel          -2.166         1.500          -0.037         0              0              0              24
  11  Towel              -1.525         1.685          -0.105         0              180            0              22
  12  SoapBar            -0.195         0.952          -3.927         0              90             0              27
  13  ToiletPaper        0.405          0.729          -3.885         0              0              270            30
  14  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  15  SprayBottle        0.839          0.815          -0.926         0              90             0              32
  16  TissueBox          0.767          0.818          -1.672         0              90             0              33
  17  ToiletPaper        -0.444         0.039          -3.793         0              0              0              23
  18  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  19  Sink               -2.171         0.294          -0.660         0              90             0
  20  Bathtub            -2.122         -0.088         -3.116         0              0              0
  21  Mirror             -2.503         1.423          -0.703         0              0              0
  22  TowelHolder        -1.524         1.671          0.001          0              180            0
  23  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  24  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  25  LightSwitch        0.321          1.327          0.000          0              180            0
  26  Window             -0.540         1.625          -3.996         90             0              0
  27  Toilet             0.004          -0.000         -3.436         0              0              0
  28  SinkBasin          -2.176         0.824          -0.659         0              0              0
  29  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  30  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  31  SideTable          -1.526         0.001          -0.172         0              0              0
  32  SideTable          0.780          0.001          -0.667         0              90             0
  33  SideTable          0.793          0.001          -1.817         0              90             0
  34  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  35  Faucet             -2.431         0.982          -0.660         0              90             0
  36  Faucet             -1.909         0.666          -3.855         0              180            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the left, then left again and locate the trash can on the floor. | STEP 2: Pick up the bar of soap from the toilet tank. | STEP 3: Carry the bar of soap and turn around. Move across the room and turn left to locate 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 turn around but face to the left right away, with the yellow spray bottle. | STEP 6: Place the bar of soap on the shelf, to the left of the bottle. | END