Task: Put the 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          0.902          2.75           0              0              0
   1  SoapBar            -2.098         0.586          0.484          0              0              0              27
   2  SoapBar            0.815          0.586          0.601          0              0              0              27
   3  Candle             0.728          0.252          2.215          0              0              0              25
   4  SprayBottle        -2.555         1.047          1.559          0              180            0              40
   5  SoapBottle         0.549          0.587          0.484          0              0              0              27
   6  SoapBottle         0.793          0.114          3.063          0              0              0              39
   7  ToiletPaper        0.686          0.251          1.281          0              0              0              31
   8  HandTowel          1.033          1.671          3.127          0              90             0              37
   9  Towel              0.931          1.193          0.495          0              270            0              32
  10  SoapBar            0.645          0.490          2.728          0              0              0              29
  11  ToiletPaper        -2.626         0.790          1.235          0              90             270            34
  12  SoapBottle         -2.585         1.046          1.494          0              90             0              40
  13  ToiletPaper        0.521          0.251          2.625          0              0              0              25
  14  ScrubBrush         -2.557         0.001          2.200          0              0              0
  15  Plunger            -2.568         0.000          1.992          0              0              0
  16  Cloth              -0.692         0.181          0.527          0              0              0              36
  17  Candle             0.728          0.252          1.588          0              0              0              21
  18  SprayBottle        0.432          0.743          2.409          0              0              0              24
  19  Window             -2.808         0.962          0.514          0              0              0
  20  Bathtub            -1.062         0.300          0.427          0              0              0
  21  Drawer             0.409          0.551          1.486          0              0              0
  22  Mirror             0.986          1.676          1.896          0              0              0
  23  ShowerDoor         -2.671         1.001          2.797          0              0              0
  24  CounterTop         0.732          0.697          1.955          0              0              0
  25  Drawer             0.409          0.314          2.420          0              0              0
  26  ShowerGlass        -1.713         1.276          3.298          0              0              0
  27  CounterTop         -0.298         0.157          0.531          0              0              0
  28  Sink               0.812          0.703          1.920          0              270            0
  29  Drawer             0.409          0.551          2.420          0              0              0
  30  Window             -0.957         1.563          -0.059         0              0              0
  31  Drawer             0.409          0.314          1.486          0              0              0
  32  TowelHolder        1.038          1.179          0.495          0              270            0
  33  TowelHolder        0.474          1.168          0.027          0              0              0
  34  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  35  SinkBasin          0.720          0.812          1.896          349.201        270            0
  36  BathtubBasin       -0.721         0.171          0.479          0              0              0
  37  HandTowelHolder    1.071          1.773          3.127          0              180            0
  38  LightSwitch        0.220          1.416          3.998          0              180            0
  39  GarbageCan         0.713          -0.028         3.110          0              0              0
  40  Toilet             -2.232         0.001          1.628          0              180            0
  41  ShowerHead         -2.619         1.819          3.361          0              270            0
  42  Faucet             1.047          1.036          1.921          0              0              0
  43  Faucet             0.318          0.631          0.479          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around, walk towards the bath tub, turn left, walk straight to the counter | STEP 2: Grab bar of soap from the tub | STEP 3: Turn left, walk towards sink | STEP 4: Place soap in sink, turn on faucet, then turn off faucet, then grab soap | STEP 5: turn around, walk towards the bath tub | STEP 6: Place soap in bath tub | END