Task: Grab the soap from the tub put it in the sink. Put it on the floor by the toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.900          -1.75          0              180            0
   1  Cloth              -1.862         0.042          -2.682         0              270            0              28
   2  TissueBox          0.795          0.818          -1.773         0              90             0              32
   3  SoapBar            -0.008         0.952          -3.927         0              90             0              26
   4  SoapBar            -1.529         0.044          -1.822         0              270            0              28
   5  SoapBar            -0.070         0.952          -3.847         0              90             0              26
   6  SoapBottle         -1.454         0.821          -0.165         0              0              0              30
   7  Cloth              -1.862         0.042          -2.108         0              270            0              28
   8  Candle             0.782          0.817          -0.623         0              90             0              31
   9  HandTowel          -2.166         1.500          -0.037         0              0              0              23
  10  Towel              -1.525         1.685          -0.105         0              180            0              21
  11  SoapBar            0.754          0.818          -0.926         0              90             0              31
  12  ToiletPaper        -0.556         0.082          -3.778         0              0              0              22
  13  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  14  SprayBottle        0.852          0.815          -1.470         0              90             0              32
  15  TissueBox          0.754          0.818          -0.825         0              90             0              31
  16  ToiletPaper        0.405          0.729          -3.885         0              0              270            29
  17  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  18  Sink               -2.171         0.294          -0.660         0              90             0
  19  Bathtub            -2.122         -0.088         -3.116         0              0              0
  20  Mirror             -2.503         1.423          -0.703         0              0              0
  21  TowelHolder        -1.524         1.671          0.001          0              180            0
  22  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  23  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  24  LightSwitch        0.321          1.327          0.000          0              180            0
  25  Window             -0.540         1.625          -3.996         90             0              0
  26  Toilet             0.004          -0.000         -3.436         0              0              0
  27  SinkBasin          -2.176         0.824          -0.659         0              0              0
  28  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  29  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  30  SideTable          -1.526         0.001          -0.172         0              0              0
  31  SideTable          0.780          0.001          -0.667         0              90             0
  32  SideTable          0.793          0.001          -1.817         0              90             0
  33  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  34  Faucet             -2.431         0.982          -0.660         0              90             0
  35  Faucet             -1.909         0.666          -3.855         0              180            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn to the right and face the tub. | STEP 2: Look to the floor and grab the soap. | STEP 3: Turn right and then left to go to the sink. | STEP 4: Put the soap into the sink and turn the water on. | STEP 5: Grab the soap and go to the toilet. | STEP 6: Put the soap down on the floor.  | END