Task: Wash a soap bar to use 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              -1.5           0.903          1.25           0              270            0
   1  TissueBox          -1.308         1.773          2.127          0              0              0              29
   2  Cloth              0.289          0.048          0.156          0              0              0              30
   3  Cloth              0.206          0.048          0.384          0              0              0              30
   4  SoapBar            -0.653         0.288          2.157          0              0              0              27
   5  SoapBar            -1.666         0.081          -0.620         0              270            0              28
   6  Candle             -2.212         1.088          -0.827         0              0              0              36
   7  Candle             -2.212         1.088          -0.766         0              0              0              36
   8  SoapBottle         -0.293         0.611          1.661          0              45             0              23
   9  SoapBottle         -1.949         1.049          -0.766         0              0              0              36
  10  Candle             -0.319         0.650          -0.259         0              0              0              23
  11  HandTowel          -0.541         1.502          -0.846         0              180            0              33
  12  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  13  SoapBar            -1.409         1.010          -0.330         0              227.756        0              24
  14  ToiletPaper        -1.785         0.805          -0.769         0              0              270            26
  15  SoapBottle         -1.144         0.291          2.097          0              0              0              27
  16  TissueBox          -2.080         1.047          -0.705         0              0              0              36
  17  Cloth              0.371          0.048          -0.071         0              0              0              30
  18  ToiletPaper        -1.660         0.809          -0.769         0              0              90             26
  19  Towel              0.266          1.550          -0.452         0              0              0              25
  20  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  21  SprayBottle        -2.343         1.048          -0.705         0              0              0              36
  22  Mirror             -1.105         1.754          -0.884         0              0              0
  23  Bathtub            0.221          0.343          0.636          0              0              0
  24  Sink               -1.128         -0.001         -0.593         0              0              0
  25  TowelHolder        0.266          1.536          -0.559         0              0              0
  26  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  27  Shelf              -1.167         0.278          2.157          0              0              0
  28  SinkBasin          -1.133         0.836          -0.580         0              0              0
  29  Shelf              -1.167         1.763          2.157          0              0              0
  30  BathtubBasin       0.277          0.033          0.611          0              0              0
  31  Shelf              -1.167         1.059          2.157          0              0              0
  32  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  33  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  34  GarbageCan         -2.715         0.004          -0.513         0              270            0
  35  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  36  Toilet             -2.150         0.002          -0.412         0              90             0
  37  Faucet             0.284          0.504          -0.489         0              0              0
  38  ShowerHead         0.232          1.906          1.834          0              0              0
  39  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  40  Faucet             -1.127         0.993          -0.837         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk to the edge of the kitchen sink on your left. | STEP 2: Grab a soap bar from the trash can. | STEP 3: Put the soap bar under the faucet, wash it, then grab it. | STEP 4: Walk to the tub on your left. | STEP 5: Place the soap bar in the tub. | END