Task: get the soap form the cabinet, rinse it in the sink then put it in the tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          2.25           0              270            0
   1  Cloth              -3.701         0.185          3.129          0              0              0              19
   2  Cloth              -3.262         0.185          2.231          0              347.395        0              19
   3  SprayBottle        -0.224         1.045          3.289          0              270            0              40
   4  SprayBottle        -3.597         0.542          1.477          0              90             0              21
   5  SoapBottle         -0.861         0.042          4.768          0              0              0              29
   6  HandTowel          -0.112         1.467          4.811          0              90             0              38
   7  Candle             -3.597         0.550          1.109          0              90             0              36
   8  SoapBottle         -3.713         0.546          1.109          0              90             0              36
   9  HandTowel          -2.093         1.442          5.107          0              0              0              37
  10  Towel              -0.181         1.419          2.425          0              270            0              34
  11  SoapBar            -1.696         0.037          4.827          0              0              0              28
  12  ToiletPaper        -0.153         1.126          3.705          0              270            270            39
  13  TissueBox          -1.329         0.040          5.006          0              0              0              30
  14  Cloth              -0.294         0.040          4.769          0              0              0              20
  15  ToiletPaper        -0.965         0.960          5.065          0              0              0              26
  16  SprayBottle        -1.908         0.964          5.084          0              90             0              26
  17  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  18  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  19  BathtubBasin       -3.404         0.166          2.904          0              0              0
  20  Cabinet            -0.124         0.364          4.634          0              0              0
  21  Bathtub            -2.896         0.667          2.860          0              0              0
  22  Faucet             -3.475         0.711          3.811          0              0              0
  23  ShowerGlass        0.0            0.0            0.0            0              0              0
  24  ShowerDoor         -0.282         1.228          1.730          0              0              0
  25  Faucet             -1.524         1.047          5.096          0              180            0
  26  CounterTop         -1.023         0.954          4.884          0              0              0
  27  Mirror             -0.975         1.577          5.145          0              0              0
  28  Cabinet            -1.962         0.364          4.634          0              0              0
  29  Cabinet            -1.027         0.364          4.634          0              0              0
  30  Cabinet            -1.059         0.364          4.634          0              0              0
  31  Window             -1.993         1.888          0.144          0              0              0
  32  LightSwitch        -2.496         1.366          5.146          0              180            0
  33  TowelHolder        -1.720         1.213          1.740          0              0              0
  34  TowelHolder        -0.074         1.404          2.424          0              270            0
  35  GarbageCan         -2.346         0.002          4.878          0              180            0
  36  Shelf              -3.713         0.531          0.951          0              90             0
  37  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  38  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  39  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  40  Toilet             -0.517         -0.000         3.220          0              0              0
  41  ShowerHead         -0.182         1.256          0.875          0              0              0
  42  SinkBasin          -0.569         0.986          4.886          0              180            0
  43  Sink               -0.579         0.926          4.874          0              180            0
  44  Sink               -1.524         0.926          4.874          0              180            0
  45  SinkBasin          -1.514         0.986          4.886          0              180            0
  46  Faucet             -0.583         1.047          5.096          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: walk over to the sink | STEP 2: get the soap bar from the cabinet below the sink | STEP 3: take the soap bar to the sink | STEP 4: put the soap in the sink, fill the sink with water, then drain and remove | STEP 5: take the soap bar over to the tub basin | STEP 6: drop the soap bar in the tub | END