Task: Put a washed 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              -1.5           0.903          3.25           0              90             0
   1  Cloth              -1.214         0.164          0.465          0              0              0              29
   2  SoapBar            0.760          1.047          4.277          0              270            0              32
   3  Candle             0.668          1.056          4.473          0              270            0              32
   4  Candle             0.597          0.106          2.642          0              0              0              25
   5  SprayBottle        0.234          0.098          2.642          0              0              0              25
   6  Towel              -2.393         1.478          0.580          0              90             0              26
   7  Candle             -1.252         0.713          0.015          0              0              0              20
   8  Cloth              0.521          0.097          3.265          0              0              0              19
   9  HandTowel          0.397          1.656          2.039          0              180            0              30
  10  Plunger            0.480          0.002          4.793          0              0              0
  11  SoapBar            -2.402         0.704          0.717          0              0              0              20
  12  ToiletPaper        0.160          0.094          3.460          0              0              0              19
  13  ToiletPaper        0.749          1.045          4.083          0              0              0              23
  14  SoapBottle         -0.167         0.155          1.382          0              90             0              31
  15  SprayBottle        0.668          1.048          4.277          0              270            0              32
  16  ScrubBrush         0.688          0.002          4.867          0              0              0
  17  Sink               0.426          1.037          2.947          0              270            0
  18  Window             -2.548         1.673          2.405          0              0              0
  19  Cabinet            0.068          0.366          3.772          0              0              0
  20  Bathtub            -1.042         0.155          0.558          0              0              0
  21  SinkBasin          0.404          0.926          2.926          0              270            0
  22  Mirror             0.858          1.863          2.972          0              0              0
  23  CounterTop         0.487          1.015          3.090          0              0              0
  24  Faucet             -0.207         0.687          0.546          0              0              0
  25  Cabinet            0.074          0.379          2.045          0              0              0
  26  TowelHolder        -2.5           1.463          0.579          0              90             0
  27  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  28  LightSwitch        -1.121         1.333          5.000          0              180            0
  29  BathtubBasin       -1.062         0.153          0.556          0              0              0
  30  HandTowelHolder    0.398          1.758          2.000          0              270            0
  31  GarbageCan         -0.229         0.001          1.445          0              270            0
  32  Toilet             0.376          0.002          4.470          0              0              0
  33  Faucet             0.661          1.043          3.371          0              270            0
  34  Faucet             0.661          1.043          2.520          0              270            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Go to the right of the tub | STEP 2: Pick up the bar of soap | STEP 3: Go to the sink | STEP 4: Wash the soap with the left sink | STEP 5: Go to the tub | STEP 6: Put the soap in the tub | END