Task: put a rinsed bar of soap in to 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              -1.75          0.901          1.0            0              270            0
   1  Cloth              -0.346         0.199          0.238          0              90             0              21
   2  Cloth              -3.508         0.219          1.309          0              0              0              42
   3  TissueBox          -1.329         0.808          0.155          0              90             0              26
   4  Candle             -0.346         0.506          0.350          0              90             0              30
   5  SoapBottle         -0.376         0.983          3.207          0              90             0              22
   6  SoapBottle         -0.200         0.983          3.207          0              180            0              22
   7  Towel              -2.554         0.873          0.106          0              0              0              34
   8  Towel              -2.554         1.597          0.106          0              0              0              33
   9  Cloth              -0.619         0.895          2.969          0              180            0              41
  10  Candle             -2.327         0.953          2.389          0              180            0              40
  11  HandTowel          -0.038         1.68           2.956          0              90             0              37
  12  SoapBar            -3.321         0.220          0.939          0              0              0              42
  13  ToiletPaper        -2.250         0.946          2.670          0              0              0              40
  14  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  15  SprayBottle        -0.543         0.805          0.417          0              90             0              26
  16  TissueBox          -0.805         0.808          0.221          0              90             0              26
  17  ToiletPaper        -1.853         0.805          0.090          0              90             0              26
  18  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  19  SoapBottle         -0.543         0.809          0.221          0              90             0              26
  20  Drawer             -1.324         0.312          0.311          0              90             0
  21  Drawer             -0.290         0.312          0.311          0              90             0
  22  Sink               -0.463         -0.013         3.046          0              180            0
  23  Mirror             -0.504         1.741          3.304          0              0              0
  24  Drawer             -0.808         0.611          0.311          0              90             0
  25  Drawer             -0.808         0.312          0.311          0              90             0
  26  CounterTop         -1.850         0.001          0.342          0              90             0
  27  Bathtub            -3.499         0.148          0.939          0              0              0
  28  Drawer             -1.840         0.312          0.311          0              90             0
  29  Faucet             -0.463         0.969          3.212          0              180            0
  30  Drawer             -0.290         0.611          0.311          0              90             0
  31  Drawer             -1.324         0.611          0.311          0              90             0
  32  Drawer             -1.840         0.611          0.311          0              90             0
  33  TowelHolder        -2.553         1.582          0.0            0              0              0
  34  TowelHolder        -2.553         0.859          0.0            0              0              0
  35  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  36  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  37  HandTowelHolder    0.0            1.781          2.956          0              180            0
  38  LightSwitch        0.0            1.368          1.993          0              270            0
  39  Window             -4.083         1.735          1.162          90             270            0
  40  Toilet             -1.835         0.000          2.503          0              90             0
  41  SinkBasin          -0.452         0.888          2.969          0              180            0
  42  BathtubBasin       -3.518         0.210          0.939          0              0              0
  43  ShowerHead         -3.540         1.821          1.820          0              0              0
  44  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: move forward to the bath tub | STEP 2: remove the pink bar of soap from the bath tub | STEP 3: turn around and move forward across the bathroom and turn left to move towards the left side of the sink, turn to face the left side of the sink | STEP 4: put the bar of soap in to the sink, turn on the water to rinse off the soap, turn off the water and remove the pink bar of soap from the sink | STEP 5: turn around and move forward and turn to the right at the cabinet with the white counter top and move to the bath tub | STEP 6: put the bar of soap back in to the bath tub | END