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              0.25           0.900          -1.0           0              90             0
   1  Cloth              -2.085         0.042          -2.682         0              270            0              32
   2  Cloth              -2.085         0.042          -3.255         0              270            0              32
   3  TissueBox          -0.195         0.953          -3.874         0              90             0              30
   4  Candle             0.880          0.817          -1.874         0              90             0              36
   5  SoapBar            -1.751         0.044          -3.542         0              270            0              32
   6  SoapBar            -1.974         0.044          -2.395         0              270            0              32
   7  SprayBottle        -0.133         0.949          -3.793         0              180            0              30
   8  SoapBottle         0.054          0.955          -3.847         0              90             0              30
   9  SoapBottle         -1.454         0.821          -0.108         0              0              0              34
  10  SoapBottle         0.767          0.821          -1.773         0              90             0              36
  11  Cloth              0.833          0.809          -1.546         0              0              0              36
  12  Candle             -1.555         0.817          -0.137         0              0              0              34
  13  HandTowel          -2.166         1.500          -0.037         0              0              0              27
  14  Towel              -1.525         1.685          -0.105         0              180            0              25
  15  SoapBar            -1.656         0.818          -0.080         0              0              0              34
  16  ToiletPaper        0.767          0.815          -1.975         0              90             0              36
  17  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  18  SprayBottle        -0.070         0.949          -3.874         0              90             0              30
  19  TissueBox          0.839          0.818          -0.825         0              90             0              35
  20  ToiletPaper        -1.858         0.815          -0.108         0              0              0              34
  21  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  22  Sink               -2.171         0.294          -0.660         0              90             0
  23  Bathtub            -2.122         -0.088         -3.116         0              0              0
  24  Mirror             -2.503         1.423          -0.703         0              0              0
  25  TowelHolder        -1.524         1.671          0.001          0              180            0
  26  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  27  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  28  LightSwitch        0.321          1.327          0.000          0              180            0
  29  Window             -0.540         1.625          -3.996         90             0              0
  30  Toilet             0.004          -0.000         -3.436         0              0              0
  31  SinkBasin          -2.176         0.824          -0.659         0              0              0
  32  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  33  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  34  SideTable          -1.526         0.001          -0.172         0              0              0
  35  SideTable          0.780          0.001          -0.667         0              90             0
  36  SideTable          0.793          0.001          -1.817         0              90             0
  37  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  38  Faucet             -2.431         0.982          -0.660         0              90             0
  39  Faucet             -1.909         0.666          -3.855         0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around and move toward the sink, turn right to face the shelf on the wall. | STEP 2: Pick up the bar of soap from the left side of the shelf. | STEP 3: Carry the soap and turn to the sink on the right.  | STEP 4: Place the soap inside the sink and turn on the water. Turn off the water and pick up the soap. | STEP 5: Hold the soap and turn around. Turn right and move back to the trash can. | STEP 6: Place the soap inside the trash can. | END