Task: To rinse off a bar of soap and put it in the green bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.909          2.5            0              90             0
   1  Cloth              -2.812         0.603          1.426          0              0              0              35
   2  Candle             -0.625         1.069          0.302          0              0              0              40
   3  DishSponge         -0.691         1.072          0.363          0              0              0              40
   4  HandTowel          -0.242         1.76           3.427          0              0              0              38
   5  Plunger            -0.219         0.026          0.490          0              0              0
   6  SoapBar            -1.964         0.599          1.156          0              0              0              24
   7  ToiletPaper        -0.126         0.068          3.280          0              270            0              36
   8  SoapBottle         -1.444         1.106          3.137          0              0              0              21
   9  ToiletPaper        -3.222         0.595          1.467          0              0              0              35
  10  Towel              0.402          1.389          3.359          0              0              0              33
  11  PaperTowelRoll     -0.822         1.177          0.394          0              0              0              40
  12  ScrubBrush         -0.351         0.026          0.353          0              0              0
  13  Cloth              -2.508         0.111          0.454          0              0              0              34
  14  Candle             -1.535         0.053          3.223          0              0              0              23
  15  DishSponge         -1.240         0.600          0.347          0              0              0              24
  16  SprayBottle        -3.017         0.599          1.467          0              0              0              35
  17  Window             -3.447         1.593          0.648          0              0              0
  18  Mirror             -1.386         1.595          3.464          0              0              0
  19  SinkBasin          -0.837         0.960          3.091          0              180            0
  20  ShowerDoor         -2.477         1.774          2.386          0              0              0
  21  CounterTop         -1.358         1.094          3.151          0              0              0
  22  Sink               -0.846         0.952          3.144          0              180            0
  23  Cabinet            -1.399         0.425          2.867          0              0              0
  24  Bathtub            -2.234         0.288          0.722          0              0              0
  25  Cabinet            -0.337         0.425          2.867          0              0              0
  26  Cabinet            -1.362         0.425          2.867          0              0              0
  27  Cabinet            -2.423         0.425          2.867          0              0              0
  28  ShowerGlass        -2.895         1.423          2.342          0              0              0
  29  Faucet             -0.853         1.094          3.367          0              180            0
  30  ShowerHead         -2.949         2.154          3.427          0              0              0
  31  Window             -2.190         1.550          0.086          0              0              0
  32  TowelHolder        0.967          1.343          2.855          0              270            0
  33  TowelHolder        0.402          1.375          3.466          0              180            0
  34  BathtubBasin       -2.322         0.096          0.634          0              0              0
  35  Shelf              -2.930         0.589          1.425          0              0              0
  36  GarbageCan         -0.061         -0.001         3.131          0              270            0
  37  LightSwitch        0.968          1.432          1.128          0              270            0
  38  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  39  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  40  Toilet             -0.694         0.026          0.656          0              90             0
  41  Faucet             -1.944         1.094          3.367          0              180            0
  42  Sink               -1.934         0.952          3.144          0              180            0
  43  SinkBasin          -1.926         0.960          3.091          0              180            0
  44  Faucet             -1.342         0.638          0.629          0              90             0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk over to face the tub.  | STEP 2: Pick up the bar of soap from the edge of the tub.  | STEP 3: Walk to the sink on the right side.  | STEP 4: Rinse the soap off with water, pick up the soap from the sink.  | STEP 5: Walk to the green bin to the right of the sink.  | STEP 6: Put the soap inside of the green bin in front of the roll of toilet paper.  | END