Task: place clean soap on top 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              -2.25          0.900          2.5            0              270            0
   1  Cloth              -1.979         0.542          1.832          0              0              0              24
   2  SoapBar            -3.432         0.826          1.439          0              0              0              18
   3  SoapBar            -1.064         0.120          3.640          0              90             0              37
   4  Candle             -3.122         0.278          1.935          0              0              0              23
   5  Towel              -4.739         1.522          2.425          0              90             0              31
   6  HandTowel          -0.923         1.59           2.018          0              90             0              35
   7  Candle             -0.982         0.835          1.756          0              0              0              18
   8  HandTowel          -3.726         1.646          1.330          0              180            0              36
   9  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  10  SoapBar            -3.122         0.537          1.728          0              0              0              25
  11  ToiletPaper        -0.968         0.888          3.960          0              270            270            39
  12  Cloth              -1.017         1.049          4.591          0              270            0              38
  13  ToiletPaper        -2.462         0.823          1.862          0              0              0              18
  14  Towel              -4.739         1.522          3.359          0              90             0              30
  15  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  16  SoapBottle         -1.018         1.046          4.263          0              270            0              38
  17  SprayBottle        -2.205         0.827          2.132          0              0              0              18
  18  CounterTop         -2.177         0.782          1.889          0              0              0
  19  Drawer             -1.307         0.606          1.890          0              0              0
  20  Drawer             -1.307         0.337          1.890          0              0              0
  21  Faucet             -4.646         0.448          1.689          0              0              0
  22  ShowerDoor         -4.873         1.235          3.947          0              0              0
  23  Drawer             -3.029         0.337          1.890          0              0              0
  24  Drawer             -2.169         0.606          1.890          0              0              0
  25  Drawer             -3.029         0.606          1.890          0              0              0
  26  Bathtub            -4.080         0.297          2.480          0              345.000        0
  27  Drawer             -2.169         0.337          1.890          0              0              0
  28  Mirror             -2.177         1.856          1.390          0              0              0
  29  Sink               -1.421         0.837          1.776          0              0              0
  30  TowelHolder        -4.846         1.508          3.358          0              90             0
  31  TowelHolder        -4.846         1.508          2.424          0              90             0
  32  LightSwitch        -2.165         1.450          4.972          0              180            0
  33  BathtubBasin       -4.309         0.192          2.328          0              270            0
  34  SinkBasin          -1.442         0.874          1.785          0              0              0
  35  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  36  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  37  GarbageCan         -1.116         -0.037         3.598          0              270            0
  38  Toilet             -1.340         -0.000         4.456          0              0              0
  39  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  40  Faucet             -1.421         0.954          1.507          0              0              0
  41  ShowerHead         -5.257         1.733          4.030          0              90             0
  42  Faucet             -2.944         0.954          1.507          0              0              0
  43  Sink               -2.943         0.837          1.776          0              0              0
  44  SinkBasin          -2.964         0.874          1.785          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: go to the toilet in the bathroom | STEP 2: pick up the soap out of the black bin to the right of the toilet | STEP 3: walk over to the bathroom sink | STEP 4: place the soap inside the sink and rinse it off, then pick it back up | STEP 5: walk over to the toilet again | STEP 6: place the soap on top of the toilet | END