Task: Rinse a bar of soap and place it on the back of 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              -1.5           0.901          -1.75          0              0              0
   1  Cloth              -1.013         0.291          -2.517         0              0              0              31
   2  Candle             -2.306         1.086          -0.492         0              90             0              33
   3  SoapBar            -0.280         0.876          -1.461         0              0              0              20
   4  SoapBar            -0.086         0.876          -1.461         0              0              0              20
   5  SoapBottle         -2.434         0.723          -2.067         0              0              0              18
   6  Towel              -0.106         1.541          -2.487         0              270            0              25
   7  Towel              -2.424         1.541          -2.487         0              90             0              24
   8  Candle             -0.202         0.917          -1.300         0              0              0              20
   9  HandTowel          -2.496         1.836          -0.907         0              270            0              28
  10  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  11  SoapBottle         -2.429         1.045          -0.295         0              90             0              33
  12  SoapBar            -0.086         0.876          -1.219         0              0              0              20
  13  ToiletPaper        -2.402         1.036          -0.173         0              0              0              33
  14  Cloth              -2.216         0.914          -1.645         0              90             0              30
  15  ToiletPaper        -0.103         0.719          -2.123         0              0              0              18
  16  SprayBottle        -2.276         1.046          -0.164         0              90             0              33
  17  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  18  Bathtub            -1.281         0.277          -2.529         0              0              0
  19  Mirror             -2.512         1.764          -1.518         0              0              0
  20  SideTable          -0.153         0.000          -1.465         0              270            0
  21  Sink               -2.273         0.0            -1.519         0              90             0
  22  Drawer             -0.218         0.775          -1.466         0              270            0
  23  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  24  TowelHolder        -2.530         1.526          -2.486         0              90             0
  25  TowelHolder        0.0            1.526          -2.486         0              270            0
  26  LightSwitch        0.0            1.324          -1.146         0              270            0
  27  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  28  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  29  Window             -1.291         1.815          -3.121         90             0              0
  30  SinkBasin          -2.216         0.905          -1.503         0              90             0
  31  SinkBasin          -1.305         0.280          -2.516         0              0              0
  32  HousePlant         -0.108         0.870          -1.649         0              0              0
  33  Toilet             -2.045         0.000          -0.358         0              180            0
  34  Faucet             -2.446         0.940          -1.516         0              90             0
  35  Faucet             -0.132         0.706          -2.877         0              29.999         0
  36  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: Turn around to the black table. | STEP 2: Pick up the bar of soap from the front of the black table. | STEP 3: Carry the soap and turn around to find the sink. | STEP 4: Place the soap in the sink and turn on the water. Turn off the water and pick up the soap. | STEP 5: Hold the soap and face to the right. | STEP 6: Place the soap on the back of the toilet. | END