Task: Put a clean bar of soap in a bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.901          1.75           0              90             0
   1  Cloth              -0.805         0.806          0.221          0              90             0              29
   2  TissueBox          -1.213         0.201          0.238          0              90             0              28
   3  SoapBar            -0.200         0.982          3.184          0              180            0              25
   4  SoapBar            -1.067         0.808          0.155          0              90             0              29
   5  Candle             -2.220         0.953          2.452          0              180            0              43
   6  Candle             -1.324         0.202          0.126          0              90             0              31
   7  SprayBottle        -2.274         0.951          2.577          0              180            0              43
   8  SprayBottle        -0.281         0.805          0.417          0              90             0              29
   9  Towel              -2.554         1.597          0.106          0              0              0              36
  10  ToiletPaper        -1.329         0.805          0.090          0              90             0              29
  11  Towel              -2.554         0.873          0.106          0              0              0              37
  12  Cloth              -1.591         0.806          0.417          0              90             0              29
  13  Candle             -2.354         0.953          2.389          0              180            0              43
  14  HandTowel          -0.038         1.68           2.956          0              90             0              40
  15  SoapBar            -0.457         0.508          0.462          0              90             0              27
  16  ToiletPaper        -0.281         0.805          0.221          0              90             0              29
  17  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  18  SprayBottle        -0.543         0.805          0.352          0              90             0              29
  19  TissueBox          -1.329         0.808          0.221          0              90             0              29
  20  ToiletPaper        -2.220         0.950          2.327          0              180            0              43
  21  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  22  SoapBottle         -1.853         0.809          0.286          0              90             0              29
  23  Drawer             -1.324         0.312          0.311          0              90             0
  24  Drawer             -0.290         0.312          0.311          0              90             0
  25  Sink               -0.463         -0.013         3.046          0              180            0
  26  Mirror             -0.504         1.741          3.304          0              0              0
  27  Drawer             -0.808         0.611          0.311          0              90             0
  28  Drawer             -0.808         0.312          0.311          0              90             0
  29  CounterTop         -1.850         0.001          0.342          0              90             0
  30  Bathtub            -3.499         0.148          0.939          0              0              0
  31  Drawer             -1.840         0.312          0.311          0              90             0
  32  Faucet             -0.463         0.969          3.212          0              180            0
  33  Drawer             -0.290         0.611          0.311          0              90             0
  34  Drawer             -1.324         0.611          0.311          0              90             0
  35  Drawer             -1.840         0.611          0.311          0              90             0
  36  TowelHolder        -2.553         1.582          0.0            0              0              0
  37  TowelHolder        -2.553         0.859          0.0            0              0              0
  38  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  39  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  40  HandTowelHolder    0.0            1.781          2.956          0              180            0
  41  LightSwitch        0.0            1.368          1.993          0              270            0
  42  Window             -4.083         1.735          1.162          90             270            0
  43  Toilet             -1.835         0.000          2.503          0              90             0
  44  SinkBasin          -0.452         0.888          2.969          0              180            0
  45  BathtubBasin       -3.518         0.210          0.939          0              0              0
  46  ShowerHead         -3.540         1.821          1.820          0              0              0
  47  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  48  NorthWall
  49  SouthWall
  50  SouthWall

Plan:
STEP 1: Go forward to the door, turn left, go forward to the sink. | STEP 2: Take the bar of soap from the sink. | STEP 3: Go around to the left side of the sink and face the right wall. | STEP 4: Wash the soap in the sink. Take the soap from the sink. | STEP 5: Turn to the left to face the blue wall. | STEP 6: Put the sink in the black bin below the sink. | END