Task: Rinse a bar of soap and place it on the bath 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          0.901          2.0            0              180            0
   1  SoapBar            -0.309         0.218          3.121          0              0              0              26
   2  SoapBar            -2.767         0.954          3.166          0              270            0              43
   3  Candle             -3.268         0.544          2.255          0              0              0              23
   4  Candle             -3.122         0.813          0.155          0              0              0              31
   5  SprayBottle        -1.816         0.019          0.137          0              0              0              37
   6  SprayBottle        -3.017         0.955          3.193          0              270            0              43
   7  HandTowel          -0.034         1.537          3.105          0              90             0              39
   8  HandTowel          -0.034         1.537          2.309          0              90             0              40
   9  Towel              -1.513         1.496          0.109          0              0              0              35
  10  Cloth              -2.962         0.811          0.342          0              0              0              31
  11  SoapBar            -1.743         0.017          0.194          0              0              0              37
  12  ToiletPaper        -0.363         0.215          2.200          0              0              0              19
  13  Plunger            -2.530         0.000          3.026          0              0              0
  14  Candle             -0.201         0.218          1.717          0              0              0              21
  15  SoapBottle         -0.309         0.219          2.593          0              0              0              22
  16  ToiletPaper        -2.407         0.146          3.218          0              0              270            46
  17  SprayBottle        -0.348         0.813          2.740          0              0              0              34
  18  ScrubBrush         -2.332         0.000          3.163          0              0              0
  19  Drawer             -0.325         0.319          2.155          0              0              0
  20  Mirror             0.0            1.473          1.917          0              270            0
  21  Drawer             -0.325         0.319          1.717          0              0              0
  22  Drawer             -0.325         0.319          2.592          0              0              0
  23  Bathtub            -3.589         0.107          1.521          0              0              0
  24  Drawer             -0.325         0.619          2.592          0              0              0
  25  Drawer             -2.249         0.319          0.280          0              0              0
  26  Drawer             -0.325         0.319          3.030          0              0              0
  27  Mirror             0.0            1.473          2.700          0              270            0
  28  Drawer             -0.325         0.619          3.030          0              0              0
  29  ShowerGlass        -0.494         1.490          0.528          0              0              0
  30  Sink               -2.539         0.661          0.252          0              0              0
  31  CounterTop         -2.540         0.805          0.280          0              0              0
  32  Drawer             -2.844         0.319          0.280          0              0              0
  33  ShowerDoor         -1.074         1.033          0.519          0              0              0
  34  CounterTop         -0.277         0.785          1.931          0              0              0
  35  TowelHolder        -1.513         1.481          0.002          0              0              0
  36  LightSwitch        -0.776         1.371          3.300          0              180            0
  37  GarbageCan         -1.754         0.001          0.227          0              0              0
  38  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  39  HandTowelHolder    0.004          1.639          3.105          0              180            0
  40  HandTowelHolder    0.004          1.639          2.309          0              180            0
  41  HandTowelHolder    0.004          1.639          1.542          0              180            0
  42  Window             -4.127         1.519          1.495          90             270            0
  43  Toilet             -2.842         0.000          2.755          0              180            0
  44  SinkBasin          -2.542         0.706          0.269          0              0              0
  45  BathtubBasin       -3.606         0.182          1.536          0              270            0
  46  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  47  Faucet             -2.540         0.794          0.111          0              0              0
  48  Faucet             -0.111         0.794          1.921          0              270            0
  49  ShowerHead         -3.612         1.776          2.299          0              0              0
  50  ShowerHead         -0.079         1.151          0.662          0              0              0
  51  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  52  Sink               -0.260         0.661          1.922          0              270            0
  53  SinkBasin          -0.277         0.706          1.920          0              270            0
  54  NorthWall
  55  SouthWall
  56  SouthWall

Plan:
STEP 1: Take a few steps forward so the shower is on the left. | STEP 2: Pick up the bar of soap from the trash can on the floor. | STEP 3: Take a step back, and move to the right to face the counter. | STEP 4: Place the bar of soap in the sink and turn the water on. Turn the water off and pick up the soap. | STEP 5: Take the soap and go right towards the bathtub, then turn right again with the tub still on the left side. | STEP 6: Place the bar of soap on the edge of the tub. | END