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

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.903          1.25           0              90             0
   1  Cloth              0.453          0.048          -0.071         0              0              0              29
   2  Cloth              -1.144         0.293          2.157          0              0              0              26
   3  SoapBar            -0.836         1.010          -0.352         0              306.598        0              23
   4  SoapBar            -2.343         1.046          -0.766         0              0              0              35
   5  SoapBar            0.041          0.043          1.295          0              0              0              29
   6  Candle             -1.471         1.814          2.247          0              0              0              28
   7  SoapBottle         -0.247         0.611          -0.406         0              315            0              22
   8  ToiletPaper        -2.015         1.043          -0.766         0              0              0              35
   9  Candle             -0.334         0.650          0.935          0              0              0              22
  10  HandTowel          -1.743         1.502          -0.846         0              180            0              31
  11  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  12  SoapBar            -1.415         1.010          -0.352         0              227.756        0              23
  13  ToiletPaper        -1.660         0.809          -0.769         0              0              90             25
  14  SoapBottle         -1.707         0.083          -0.549         0              270            0              33
  15  TissueBox          -1.308         1.070          2.097          0              0              0              30
  16  Cloth              0.124          0.048          0.839          0              0              0              29
  17  ToiletPaper        -2.277         1.043          -0.705         0              0              0              35
  18  Towel              0.266          1.550          -0.452         0              0              0              24
  19  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  20  SprayBottle        -2.146         1.048          -0.705         0              0              0              35
  21  Mirror             -1.105         1.754          -0.884         0              0              0
  22  Bathtub            0.221          0.343          0.636          0              0              0
  23  Sink               -1.128         -0.001         -0.593         0              0              0
  24  TowelHolder        0.266          1.536          -0.559         0              0              0
  25  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  26  Shelf              -1.167         0.278          2.157          0              0              0
  27  SinkBasin          -1.133         0.836          -0.580         0              0              0
  28  Shelf              -1.167         1.763          2.157          0              0              0
  29  BathtubBasin       0.277          0.033          0.611          0              0              0
  30  Shelf              -1.167         1.059          2.157          0              0              0
  31  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  32  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  33  GarbageCan         -2.715         0.004          -0.513         0              270            0
  34  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  35  Toilet             -2.150         0.002          -0.412         0              90             0
  36  Faucet             0.284          0.504          -0.489         0              0              0
  37  ShowerHead         0.232          1.906          1.834          0              0              0
  38  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  39  Faucet             -1.127         0.993          -0.837         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Go to the right and face the right side of the sink. | STEP 2: Pick the soap up from the counter. | STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up. | STEP 4: Turn to the left and face the tub. | STEP 5: Put the soap in the tub. | END