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

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.903          1.0            0              90             0
   1  TissueBox          -2.146         1.047          -0.736         0              0              0              33
   2  TissueBox          -1.308         0.289          2.097          0              0              0              24
   3  SoapBar            -0.334         0.609          1.533          0              0              0              20
   4  SoapBar            0.289          0.043          0.611          0              0              0              27
   5  Candle             -2.277         1.088          -0.736         0              0              0              33
   6  SprayBottle        -2.343         1.048          -0.644         0              0              0              33
   7  Candle             -2.343         1.088          -0.705         0              0              0              33
   8  HandTowel          -1.743         1.502          -0.846         0              180            0              29
   9  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  10  SoapBar            -0.148         0.609          -0.428         0              315            0              20
  11  ToiletPaper        -1.308         1.066          2.097          0              0              0              28
  12  SoapBottle         -0.653         1.775          2.157          0              0              0              26
  13  TissueBox          -1.635         0.289          2.157          0              0              0              24
  14  Cloth              -0.653         0.293          2.127          0              0              0              24
  15  ToiletPaper        -0.653         1.066          2.127          0              0              0              28
  16  Towel              0.266          1.550          -0.452         0              0              0              22
  17  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  18  SprayBottle        -2.015         1.048          -0.736         0              0              0              33
  19  Mirror             -1.105         1.754          -0.884         0              0              0
  20  Bathtub            0.221          0.343          0.636          0              0              0
  21  Sink               -1.128         -0.001         -0.593         0              0              0
  22  TowelHolder        0.266          1.536          -0.559         0              0              0
  23  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  24  Shelf              -1.167         0.278          2.157          0              0              0
  25  SinkBasin          -1.133         0.836          -0.580         0              0              0
  26  Shelf              -1.167         1.763          2.157          0              0              0
  27  BathtubBasin       0.277          0.033          0.611          0              0              0
  28  Shelf              -1.167         1.059          2.157          0              0              0
  29  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  30  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  31  GarbageCan         -2.715         0.004          -0.513         0              270            0
  32  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  33  Toilet             -2.150         0.002          -0.412         0              90             0
  34  Faucet             0.284          0.504          -0.489         0              0              0
  35  ShowerHead         0.232          1.906          1.834          0              0              0
  36  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  37  Faucet             -1.127         0.993          -0.837         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Move to the right and face the tub. | STEP 2: Pick the soap up from the tub. | STEP 3: Turn around and turn to the left to face the right side of the sink. | STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. | STEP 5: Turn to the left to face the tub. | STEP 6: Put the soap in the tub. | END