Task: Place a rinsed bar of soap on a toilet tank.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.902          -0.25          0              180            0
   1  Cloth              0.211          0.034          -0.324         0              270            0              33
   2  Candle             -0.188         0.558          -0.844         0              0              0              23
   3  SoapBar            -3.066         0.961          0.844          0              0              0              21
   4  SoapBar            -2.541         0.081          0.889          0              0              0              22
   5  SprayBottle        -2.991         0.184          -1.56          0              0              0              32
   6  SprayBottle        -0.860         1.047          0.845          0              180            0              37
   7  SoapBottle         -2.992         0.083          0.696          0              0              0              20
   8  SoapBottle         -0.173         0.518          0.434          0              180            0              23
   9  Towel              -0.490         1.367          0.902          0              180            0              31
  10  Candle             -0.158         0.558          0.690          0              0              0              23
  11  HandTowel          -3.096         1.587          0.744          0              270            0              35
  12  SoapBar            -1.508         0.961          0.630          0              0              0              21
  13  ToiletPaper        -1.416         0.816          0.665          0              90             270            36
  14  Cloth              0.349          0.034          0.340          0              270            0              33
  15  ToiletPaper        -0.865         1.038          0.946          357.597        0              0              37
  16  SprayBottle        -1.670         0.961          0.922          0              0              0              21
  17  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  18  SoapBottle         -1.687         0.083          0.567          0              0              0              24
  19  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  20  Cabinet            -3.094         0.390          0.421          0              0              0
  21  CounterTop         -2.298         0.953          0.689          0              0              0
  22  Cabinet            -2.305         0.415          0.425          0              0              0
  23  Bathtub            0.286          0.290          -0.077         0              0              0
  24  Cabinet            -1.496         0.415          0.425          0              0              0
  25  Cabinet            -2.286         0.390          0.421          0              0              0
  26  Sink               -1.924         0.930          0.675          0              180            0
  27  Faucet             -1.922         1.015          0.887          0              0              0
  28  Mirror             -2.306         1.526          1.001          0              0              0
  29  Faucet             -2.681         1.015          0.887          0              0              0
  30  LightSwitch        -1.389         1.263          -1.693         0              0              0
  31  TowelHolder        -0.490         1.353          1.009          0              180            0
  32  GarbageCan         -2.857         0.016          -1.487         0              0              0
  33  BathtubBasin       0.349          0.023          -0.135         0              270            0
  34  SinkBasin          -1.908         0.961          0.669          0              180            0
  35  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  36  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  37  Toilet             -1.054         0.001          0.552          0              270            0
  38  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  39  Faucet             0.270          0.670          0.906          0              0              0
  40  SinkBasin          -2.666         0.961          0.669          0              180            0
  41  Sink               -2.681         0.930          0.675          0              180            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn left and hang a left at the white toilet to reach the right sink on the vanity. | STEP 2: Pick up the bar of soap to the right of the sink on the vanity. | STEP 3: Turn left and take a right at the wall to face the left sink of the vanity. | STEP 4: Put the bar of soap in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right, take a right around the toilet, turn left at the tub and face the toilet to the left at the wall. | STEP 6: Put the rinsed bar of soap on the right side of the toilet tank. | END