Task: Place a rinsed bar of soap into the rubbish bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.903          2.75           0              270            0
   1  Cloth              0.377          0.097          3.167          0              0              0              23
   2  Cloth              0.521          0.097          3.460          0              0              0              23
   3  SoapBar            0.432          1.054          2.200          0              0              0              27
   4  SoapBar            0.821          1.054          3.125          0              0              0              27
   5  SoapBar            -0.858         0.164          0.375          0              0              0              33
   6  Candle             -0.636         0.713          1.022          0              0              0              24
   7  SprayBottle        0.791          1.048          4.539          0              270            0              36
   8  SoapBottle         -0.119         0.707          0.135          0              0              0              24
   9  SoapBottle         -1.252         0.707          1.060          0              0              0              24
  10  Towel              -2.393         1.478          0.580          0              90             0              30
  11  Candle             0.161          0.106          2.448          0              0              0              29
  12  Cloth              -1.214         0.164          0.375          0              0              0              33
  13  HandTowel          0.397          1.656          2.039          0              180            0              34
  14  Plunger            0.480          0.002          4.793          0              0              0
  15  SoapBar            0.485          1.054          3.781          0              0              0              27
  16  ToiletPaper        0.205          1.051          3.781          0              0              0              27
  17  ToiletPaper        0.749          1.045          4.083          0              0              0              27
  18  SoapBottle         -0.144         0.707          0.717          0              0              0              24
  19  SprayBottle        0.765          1.055          3.848          0              0              0              27
  20  ScrubBrush         0.688          0.002          4.867          0              0              0
  21  Sink               0.426          1.037          2.947          0              270            0
  22  Window             -2.548         1.673          2.405          0              0              0
  23  Cabinet            0.068          0.366          3.772          0              0              0
  24  Bathtub            -1.042         0.155          0.558          0              0              0
  25  SinkBasin          0.404          0.926          2.926          0              270            0
  26  Mirror             0.858          1.863          2.972          0              0              0
  27  CounterTop         0.487          1.015          3.090          0              0              0
  28  Faucet             -0.207         0.687          0.546          0              0              0
  29  Cabinet            0.074          0.379          2.045          0              0              0
  30  TowelHolder        -2.5           1.463          0.579          0              90             0
  31  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  32  LightSwitch        -1.121         1.333          5.000          0              180            0
  33  BathtubBasin       -1.062         0.153          0.556          0              0              0
  34  HandTowelHolder    0.398          1.758          2.000          0              270            0
  35  GarbageCan         -0.229         0.001          1.445          0              270            0
  36  Toilet             0.376          0.002          4.470          0              0              0
  37  Faucet             0.661          1.043          3.371          0              270            0
  38  Faucet             0.661          1.043          2.520          0              270            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around and move to the sink. | STEP 2: Pick up the bar of soap to the right of the sink. | STEP 3: Turn left and move towards the toilet then turn right and face the sink. | STEP 4: Place the bar of soap in the left side sink, turn on the faucet, turn off the faucet, and pick up the bar of soap from the sink. | STEP 5: Turn around, move towards the window, then turn left and move towards the bathtub. | STEP 6: Place the bar of soap into the rubbish bin in front of the bathtub. | END