Task: Put a bar of pink soap in the bathtub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.900          -2.5           0              0              0
   1  Cloth              -1.640         0.042          -3.542         0              270            0              27
   2  Cloth              -1.974         0.042          -3.255         0              270            0              27
   3  SprayBottle        0.782          0.815          -0.522         0              90             0              30
   4  SprayBottle        0.795          0.815          -1.975         0              90             0              31
   5  SoapBottle         0.782          0.821          -0.724         0              90             0              30
   6  Cloth              -2.085         0.042          -3.542         0              270            0              27
   7  Candle             0.054          0.952          -3.793         0              90             0              25
   8  HandTowel          -2.166         1.500          -0.037         0              0              0              22
   9  Towel              -1.525         1.685          -0.105         0              180            0              20
  10  SoapBar            -1.757         0.818          -0.080         0              0              0              29
  11  ToiletPaper        0.405          0.729          -3.885         0              0              270            28
  12  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  13  SprayBottle        -0.195         0.949          -3.901         0              90             0              25
  14  TissueBox          -1.555         0.818          -0.193         0              0              0              29
  15  ToiletPaper        0.852          0.815          -1.773         0              90             0              31
  16  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  17  Sink               -2.171         0.294          -0.660         0              90             0
  18  Bathtub            -2.122         -0.088         -3.116         0              0              0
  19  Mirror             -2.503         1.423          -0.703         0              0              0
  20  TowelHolder        -1.524         1.671          0.001          0              180            0
  21  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  22  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  23  LightSwitch        0.321          1.327          0.000          0              180            0
  24  Window             -0.540         1.625          -3.996         90             0              0
  25  Toilet             0.004          -0.000         -3.436         0              0              0
  26  SinkBasin          -2.176         0.824          -0.659         0              0              0
  27  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  28  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  29  SideTable          -1.526         0.001          -0.172         0              0              0
  30  SideTable          0.780          0.001          -0.667         0              90             0
  31  SideTable          0.793          0.001          -1.817         0              90             0
  32  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  33  Faucet             -2.431         0.982          -0.660         0              90             0
  34  Faucet             -1.909         0.666          -3.855         0              180            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Take six steps forward then turn left for six steps, turn right and stop. | STEP 2: Pick up the pink soap from the white counter top. | STEP 3: Turn left to face the sink. | STEP 4: Place the soap vertically in the sink, to the left of the drain, turn on the water to fill the sink halfway, turn off the water and drain, pick up the soap. | STEP 5: Turn around and take three steps, turn right for seven steps, turn right to face the bathtub. | STEP 6: Place the soap in the tub, near the front and about halfway between the far right green item and the end of the tub, on the right. | END