Task: Put soap in the sink with water to be placed on the toilet lid.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          1.5            0              90             0
   1  Cloth              -3.511         0.219          1.104          0              0              0              44
   2  Cloth              -3.511         0.219          0.613          0              0              0              44
   3  SoapBar            -0.872         1.134          0.110          0              0              0              35
   4  SoapBar            -3.064         0.689          0.104          0              0              0              28
   5  SoapBar            -0.991         1.134          0.347          0              0              0              35
   6  Candle             -0.633         1.134          0.169          0              0              0              35
   7  Candle             -1.993         1.104          2.189          0              0              0              36
   8  SprayBottle        -0.753         1.135          0.347          0              0              0              35
   9  SprayBottle        -0.203         0.028          0.300          0              0              0              46
  10  SoapBottle         -3.098         0.692          1.708          0              0              0              28
  11  HandTowel          -1.296         1.765          0.040          0              180            0              41
  12  SoapBar            -0.256         0.953          2.749          0              270            0              43
  13  ToiletPaper        -2.010         0.842          2.144          0              0              0              27
  14  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  15  Candle             -2.031         0.108          2.055          0              0              0              25
  16  TissueBox          -0.753         1.134          0.110          0              0              0              35
  17  ToiletPaper        -0.722         1.650          0.311          0              0              0              34
  18  SoapBottle         -0.203         0.029          0.179          0              0              0              46
  19  SprayBottle        -0.753         1.135          0.466          0              0              0              35
  20  Towel              -2.760         1.569          0.107          0              0              0              38
  21  Cloth              -2.165         0.108          2.237          0              0              0              25
  22  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  23  Cabinet            -2.344         0.457          0.524          0              0              0
  24  Drawer             -0.813         0.956          0.384          0              270            0
  25  Cabinet            -1.891         0.443          1.982          0              0              0
  26  Cabinet            -0.605         0.457          0.524          0              0              0
  27  Drawer             -2.032         0.942          2.190          0              0              0
  28  Bathtub            -3.450         0.178          1.029          0              0              0
  29  CounterTop         -1.919         0.0            0.288          0              0              0
  30  Sink               -1.924         0.772          0.326          0              0              0
  31  Mirror             -1.934         1.666          0.107          0              0              0
  32  Faucet             -1.925         0.958          0.179          0              0              0
  33  Cabinet            -1.891         1.884          2.391          0              0              0
  34  Cabinet            -0.605         1.988          0.524          0              0              0
  35  CounterTop         -0.812         0.093          0.288          0              0              0
  36  Shelf              -2.029         1.183          2.189          0              0              0
  37  Shelf              -2.123         1.393          2.189          0              0              0
  38  TowelHolder        -2.760         1.555          0.000          0              0              0
  39  LightSwitch        0.0            1.427          1.993          0              270            0
  40  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  41  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  42  Window             -4.149         1.717          1.154          90             270            0
  43  Toilet             -0.456         -0.000         2.257          0              180            0
  44  BathtubBasin       -3.520         0.210          0.940          0              0              0
  45  SinkBasin          -1.931         0.841          0.320          0              0              0
  46  GarbageCan         -0.257         -0.000         0.259          0              0              0
  47  ShowerHead         -3.522         1.719          1.776          0              0              0
  48  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  49  NorthWall
  50  SouthWall
  51  SouthWall

Plan:
STEP 1: Turn to the right and walk to the front of the table. | STEP 2: Pick up the bar of soap closest to the back wall. | STEP 3: Turn to the right and move in front of the sink. | STEP 4: Put the soap in the sink to fill it and empty it with water and remove the soap. | STEP 5: Turn to the right and move to the left of the toilet. | STEP 6: Place the bar of soap on the lid of the toilet. | END