Task: Place a rinsed 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              0.0            0.900          -2.5           0              0              0
   1  Cloth              -1.640         0.042          -3.542         0              270            0              27
   2  Cloth              -1.974         0.042          -3.255         0              270            0              27
   3  SprayBottle        0.782          0.815          -0.522         0              90             0              30
   4  SprayBottle        0.795          0.815          -1.975         0              90             0              31
   5  SoapBottle         0.782          0.821          -0.724         0              90             0              30
   6  Cloth              -2.085         0.042          -3.542         0              270            0              27
   7  Candle             0.054          0.952          -3.793         0              90             0              25
   8  HandTowel          -2.166         1.500          -0.037         0              0              0              22
   9  Towel              -1.525         1.685          -0.105         0              180            0              20
  10  SoapBar            -1.757         0.818          -0.080         0              0              0              29
  11  ToiletPaper        0.405          0.729          -3.885         0              0              270            28
  12  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  13  SprayBottle        -0.195         0.949          -3.901         0              90             0              25
  14  TissueBox          -1.555         0.818          -0.193         0              0              0              29
  15  ToiletPaper        0.852          0.815          -1.773         0              90             0              31
  16  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  17  Sink               -2.171         0.294          -0.660         0              90             0
  18  Bathtub            -2.122         -0.088         -3.116         0              0              0
  19  Mirror             -2.503         1.423          -0.703         0              0              0
  20  TowelHolder        -1.524         1.671          0.001          0              180            0
  21  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  22  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  23  LightSwitch        0.321          1.327          0.000          0              180            0
  24  Window             -0.540         1.625          -3.996         90             0              0
  25  Toilet             0.004          -0.000         -3.436         0              0              0
  26  SinkBasin          -2.176         0.824          -0.659         0              0              0
  27  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  28  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  29  SideTable          -1.526         0.001          -0.172         0              0              0
  30  SideTable          0.780          0.001          -0.667         0              90             0
  31  SideTable          0.793          0.001          -1.817         0              90             0
  32  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  33  Faucet             -2.431         0.982          -0.660         0              90             0
  34  Faucet             -1.909         0.666          -3.855         0              180            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn left and walk to the soap below the towel. | STEP 2: Pick up the soap next to the tissues. | STEP 3: Turn left and look at the sink. | STEP 4: Rinse the soap in the sink and then pick up the soap from the sink. | STEP 5: Turn left and walk to the middle of the tub. | STEP 6: Place the soap in the middle of the tub. | END