Task: The sink should be cleaned with soap

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.904          0.75           0              180            0
   1  Cloth              -3.100         0.109          -0.022         0              0              0              26
   2  Cloth              -3.038         1.002          -0.601         0              0              0              31
   3  SprayBottle        -2.969         0.110          -0.173         0              0              0              26
   4  Candle             -3.189         1.003          -0.601         0              0              0              31
   5  Candle             -3.265         1.003          0.580          0              0              0              31
   6  SoapBar            -0.619         0.033          0.352          0              0              0              29
   7  SoapBottle         -3.230         0.110          -0.440         0              0              0              21
   8  Towel              -1.615         1.398          1.800          0              180            0              33
   9  HandTowel          -2.96          1.593          -0.728         0              180            0              34
  10  SoapBar            -3.035         0.108          -0.440         0              0              0              21
  11  ToiletPaper        -3.009         1.866          1.725          0              0              0              22
  12  ToiletPaper        -3.140         1.866          1.725          0              0              0              22
  13  Candle             -2.838         0.110          0.437          0              0              0              26
  14  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  15  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  16  SoapBottle         -2.974         0.051          0.869          0              0              0              32
  17  Cloth              -0.476         0.033          0.122          0              0              0              29
  18  SprayBottle        -3.163         1.049          1.460          0              90             0              38
  19  Faucet             -0.618         0.667          1.805          0              0              0
  20  Cabinet            -2.761         0.446          0.599          0              0              0
  21  Cabinet            -2.756         0.421          -0.759         0              0              0
  22  Cabinet            -2.905         2.098          1.878          0              0              0
  23  Sink               -3.016         0.865          0.207          0              90             0
  24  Bathtub            -0.603         0.286          0.832          0              0              0
  25  SinkBasin          -3.016         0.874          0.217          0              90             0
  26  Cabinet            -2.756         0.421          -0.272         0              0              0
  27  Faucet             -3.313         0.989          0.207          0              90             0
  28  Cabinet            -2.900         2.053          1.005          0              0              0
  29  BathtubBasin       -0.558         0.023          0.811          0              0              0
  30  Mirror             -3.348         1.476          0.020          0              0              0
  31  CounterTop         -3.049         1.039          -0.442         0              0              0
  32  GarbageCan         -3.080         -0.007         0.899          0              0              0
  33  TowelHolder        -1.615         1.383          1.907          0              180            0
  34  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  35  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  36  LightSwitch        -2.313         1.426          -0.766         0              0              0
  37  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  38  Toilet             -2.931         0.003          1.364          0              180            0
  39  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Face the tub to your left | STEP 2: Pick up the pink bar of soap | STEP 3: Turn around walk to the sink | STEP 4: Put the pink bar of soap into the sink wash the sink with soap and water | STEP 5: Turn around and walk to the tub | STEP 6: put the soap bar into the tub | END