Task: Pick soap up from tub, wash soap in sink, put soap on box in front of sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.903          0.75           0              0              0
   1  TissueBox          -0.980         1.773          2.097          0              0              0              24
   2  TissueBox          -2.277         1.047          -0.674         0              0              0              31
   3  SoapBar            0.289          0.043          0.839          0              0              0              25
   4  HandTowel          -0.541         1.502          -0.846         0              180            0              28
   5  Candle             -0.233         0.650          1.722          0              45             0              18
   6  HandTowel          -1.743         1.502          -0.846         0              180            0              27
   7  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
   8  SoapBar            -1.949         1.046          -0.797         0              0              0              31
   9  ToiletPaper        -1.785         0.805          -0.769         0              0              270            21
  10  SoapBottle         -0.653         1.072          2.157          0              0              0              26
  11  TissueBox          -2.080         1.047          -0.705         0              0              0              31
  12  Cloth              -1.144         1.074          2.127          0              0              0              26
  13  ToiletPaper        -0.319         0.606          1.234          0              0              0              18
  14  Towel              0.266          1.550          -0.452         0              0              0              20
  15  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  16  SprayBottle        -1.471         1.071          2.187          0              0              0              26
  17  Mirror             -1.105         1.754          -0.884         0              0              0
  18  Bathtub            0.221          0.343          0.636          0              0              0
  19  Sink               -1.128         -0.001         -0.593         0              0              0
  20  TowelHolder        0.266          1.536          -0.559         0              0              0
  21  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  22  Shelf              -1.167         0.278          2.157          0              0              0
  23  SinkBasin          -1.133         0.836          -0.580         0              0              0
  24  Shelf              -1.167         1.763          2.157          0              0              0
  25  BathtubBasin       0.277          0.033          0.611          0              0              0
  26  Shelf              -1.167         1.059          2.157          0              0              0
  27  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  28  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  29  GarbageCan         -2.715         0.004          -0.513         0              270            0
  30  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  31  Toilet             -2.150         0.002          -0.412         0              90             0
  32  Faucet             0.284          0.504          -0.489         0              0              0
  33  ShowerHead         0.232          1.906          1.834          0              0              0
  34  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  35  Faucet             -1.127         0.993          -0.837         0              0              0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn right and go to tub. | STEP 2: Pick up soap from tub. | STEP 3: Turn around, go straight until reach sink on left.  Turn left to face sink.  Proceed to sink. | STEP 4: Put soap in sink, fill sink with water, empty water.  Pick up soap. | STEP 5: Turn around, go half way the length of the tub on right. | STEP 6: Put soap on box on floor in front of sink. | END