Task: Place a clean bar of soap on the toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.5           0.900          1.0            0              0              0
   1  Cloth              -3.511         0.219          1.432          0              0              0              40
   2  TissueBox          -0.872         1.134          0.407          0              0              0              31
   3  TissueBox          -2.025         1.105          2.236          0              0              0              32
   4  Candle             -0.949         1.653          0.212          0              0              0              30
   5  SprayBottle        -0.693         1.135          0.466          0              0              0              31
   6  SoapBottle         -0.254         0.029          0.300          0              0              0              42
   7  HandTowel          -1.296         1.765          0.040          0              180            0              37
   8  SoapBar            -0.568         0.953          2.723          0              270            0              39
   9  ToiletPaper        -0.067         1.015          2.171          0              270            270            36
  10  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  11  Candle             -1.730         0.517          0.313          0              0              0              19
  12  TissueBox          -0.753         1.134          0.228          0              0              0              31
  13  ToiletPaper        -0.256         0.949          2.642          0              270            0              39
  14  SoapBottle         -0.318         0.956          2.723          0              270            0              39
  15  SprayBottle        -0.858         0.119          0.360          0              0              0              22
  16  Towel              -2.760         1.569          0.107          0              0              0              34
  17  Cloth              -2.064         0.850          0.364          0              0              0              41
  18  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  19  Cabinet            -2.344         0.457          0.524          0              0              0
  20  Drawer             -0.813         0.956          0.384          0              270            0
  21  Cabinet            -1.891         0.443          1.982          0              0              0
  22  Cabinet            -0.605         0.457          0.524          0              0              0
  23  Drawer             -2.032         0.942          2.190          0              0              0
  24  Bathtub            -3.450         0.178          1.029          0              0              0
  25  CounterTop         -1.919         0.0            0.288          0              0              0
  26  Sink               -1.924         0.772          0.326          0              0              0
  27  Mirror             -1.934         1.666          0.107          0              0              0
  28  Faucet             -1.925         0.958          0.179          0              0              0
  29  Cabinet            -1.891         1.884          2.391          0              0              0
  30  Cabinet            -0.605         1.988          0.524          0              0              0
  31  CounterTop         -0.812         0.093          0.288          0              0              0
  32  Shelf              -2.029         1.183          2.189          0              0              0
  33  Shelf              -2.123         1.393          2.189          0              0              0
  34  TowelHolder        -2.760         1.555          0.000          0              0              0
  35  LightSwitch        0.0            1.427          1.993          0              270            0
  36  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  37  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  38  Window             -4.149         1.717          1.154          90             270            0
  39  Toilet             -0.456         -0.000         2.257          0              180            0
  40  BathtubBasin       -3.520         0.210          0.940          0              0              0
  41  SinkBasin          -1.931         0.841          0.320          0              0              0
  42  GarbageCan         -0.257         -0.000         0.259          0              0              0
  43  ShowerHead         -3.522         1.719          1.776          0              0              0
  44  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn to your right and go across the room, to the toilet on your left.  | STEP 2: Pick up the bar of soap on the back of the toilet.  | STEP 3: Turn around and go to the sink across the room, and to your right.  | STEP 4: Place the bar of soap in the sink, turn the water on, get the rag in the sink soapy, turn the water off, and remove the bar of soap from the sink.  | STEP 5: Turn to your right and go across the room, back to the toilet on your right.  | STEP 6: Place the bar of soap back on the back of the toilet.  | END