Task: Put the rinsed soap bar 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              -0.25          0.901          2.5            0              270            0
   1  Candle             -1.795         0.040          3.900          0              0              0              22
   2  Candle             -1.637         0.917          3.947          0              0              0              16
   3  HandTowel          -1.670         1.496          3.962          0              0              0              26
   4  SoapBottle         -1.831         0.954          1.821          0              180            0              28
   5  Towel              0.833          1.160          2.357          0              0              0              23
   6  Cloth              -1.643         0.039          3.722          0              0              0              22
   7  SoapBar            -1.938         0.953          2.071          0              180            0              28
   8  ToiletPaper        -1.795         0.037          3.404          0              0              0              19
   9  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  10  SprayBottle        -1.795         0.037          3.004          0              0              0              14
  11  ToiletPaper        -1.755         0.915          3.933          0              0              0              16
  12  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  13  Cabinet            -1.479         0.348          2.362          0              0              0
  14  Cabinet            -1.483         0.372          3.152          0              0              0
  15  Sink               -1.746         0.884          3.553          0              90             0
  16  CounterTop         -1.758         0.669          3.164          0              0              0
  17  Faucet             -1.894         1.006          2.730          0              0              0
  18  Mirror             -1.943         1.532          3.443          0              0              0
  19  Cabinet            -1.479         0.348          3.170          0              0              0
  20  ShowerDoor         0.527          1.039          2.098          0              0              0
  21  Painting           -0.566         1.591          1.173          0              0              0
  22  Cabinet            -1.483         0.372          3.960          0              0              0
  23  TowelHolder        0.833          1.146          2.250          0              0              0
  24  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  25  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  26  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  27  LightSwitch        1.249          1.322          3.635          0              270            0
  28  Toilet             -1.447         0.000          1.961          0              90             0
  29  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  30  ShowerHead         0.871          1.097          2.009          0              270            0
  31  Faucet             -1.894         1.006          3.560          0              0              0
  32  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  33  Sink               -1.746         0.884          2.723          0              90             0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Walk forward to the toilet | STEP 2: Pick up the soap bar from the top of the toilet | STEP 3: Move a few feet right and turn to face the left most sink | STEP 4: Rinse the soap under water in the sink and remove it | STEP 5: Move slightly left and face toward the toilet | STEP 6: Put the soap bar on top of the toilet | END