Task: Wash a soap bar and put it on the dresser

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.900          1.5            0              0              0
   1  Cloth              -3.574         0.219          1.432          0              0              0              38
   2  Candle             -2.075         0.845          2.097          0              0              0              21
   3  Candle             -0.951         0.860          0.439          0              270            0              18
   4  SprayBottle        -0.254         0.028          0.209          0              0              0              40
   5  HandTowel          -1.296         1.765          0.040          0              180            0              35
   6  SoapBar            -0.443         0.952          2.696          0              270            0              37
   7  ToiletPaper        -1.542         0.809          0.108          0              0              0              23
   8  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
   9  Candle             -0.753         1.134          0.110          0              0              0              29
  10  TissueBox          -2.076         0.109          2.237          0              0              0              19
  11  ToiletPaper        -0.753         1.131          0.347          0              0              0              29
  12  SoapBottle         -0.568         0.956          2.642          0              270            0              37
  13  SprayBottle        -2.206         0.125          0.414          0              0              0              17
  14  Towel              -2.760         1.569          0.107          0              0              0              32
  15  Cloth              -3.511         0.219          0.941          0              0              0              38
  16  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  17  Cabinet            -2.344         0.457          0.524          0              0              0
  18  Drawer             -0.813         0.956          0.384          0              270            0
  19  Cabinet            -1.891         0.443          1.982          0              0              0
  20  Cabinet            -0.605         0.457          0.524          0              0              0
  21  Drawer             -2.032         0.942          2.190          0              0              0
  22  Bathtub            -3.450         0.178          1.029          0              0              0
  23  CounterTop         -1.919         0.0            0.288          0              0              0
  24  Sink               -1.924         0.772          0.326          0              0              0
  25  Mirror             -1.934         1.666          0.107          0              0              0
  26  Faucet             -1.925         0.958          0.179          0              0              0
  27  Cabinet            -1.891         1.884          2.391          0              0              0
  28  Cabinet            -0.605         1.988          0.524          0              0              0
  29  CounterTop         -0.812         0.093          0.288          0              0              0
  30  Shelf              -2.029         1.183          2.189          0              0              0
  31  Shelf              -2.123         1.393          2.189          0              0              0
  32  TowelHolder        -2.760         1.555          0.000          0              0              0
  33  LightSwitch        0.0            1.427          1.993          0              270            0
  34  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  35  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  36  Window             -4.149         1.717          1.154          90             270            0
  37  Toilet             -0.456         -0.000         2.257          0              180            0
  38  BathtubBasin       -3.520         0.210          0.940          0              0              0
  39  SinkBasin          -1.931         0.841          0.320          0              0              0
  40  GarbageCan         -0.257         -0.000         0.259          0              0              0
  41  ShowerHead         -3.522         1.719          1.776          0              0              0
  42  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: Go in front of the toilet | STEP 2: Pick up the soap bar on the flusher | STEP 3: Turn around, go forward, turn right and go to the sink | STEP 4: Put the soap bar into the sink, open the water, wait, close the water and pick up the soap bar | STEP 5: Turn around and go to the dresser, turn right | STEP 6: Put the soap bar on the dresser | END