Task: Put a clean bar of soap in 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          0.903          4.25           0              90             0
   1  Candle             0.306          0.106          2.448          0              0              0              25
   2  SprayBottle        0.765          1.055          3.848          0              0              0              23
   3  SprayBottle        0.160          0.098          3.655          0              0              0              19
   4  SoapBottle         0.672          1.044          4.116          0              0              358.989        23
   5  SoapBottle         0.539          1.058          2.108          0              0              0              23
   6  Towel              -2.393         1.478          0.580          0              90             0              26
   7  Candle             0.046          1.063          3.236          0              0              0              23
   8  Cloth              0.524          0.097          2.352          0              0              0              25
   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            0.161          0.097          2.738          0              0              0              25
  12  ToiletPaper        -0.047         0.971          4.911          0              180            90             27
  13  ToiletPaper        0.760          1.062          4.072          316.415        51.695         270            23
  14  SoapBottle         0.668          1.051          4.473          0              0              0              32
  15  SprayBottle        0.452          0.098          2.158          0              0              0              25
  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: Turn to your right and walk towards the bathtub, then turn right at the second bathroom sink on your left.  | STEP 2: Open the cabinet under the right sink and remove the bar of soap inside.  | STEP 3: Move over to the sink on your left.  | STEP 4: Place the bar of soap in the sink, turn the water on, rinse the bar of soap off, turn the water off, and remove the bar of soap from the sink.  | STEP 5: Turn to your right and go to the bath tub across from you. | STEP 6: Place the bar of soap into the bath tub.  | END