Task: move a bar of soap from the trash can to 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              0.5            0.900          2.75           0              90             0
   1  Cloth              -1.657         0.074          0.213          0              0              0              23
   2  SoapBar            -1.462         0.073          0.718          0              0              0              23
   3  SoapBar            -1.734         0.016          2.273          0              0              0              24
   4  SoapBar            -1.823         0.067          3.575          0              0              0              27
   5  Candle             -0.414         0.447          0.236          0              0              0              21
   6  SprayBottle        0.204          1.160          3.797          0              0              0              51
   7  SprayBottle        -1.764         0.018          2.22           0              0              0              24
   8  SoapBottle         -1.707         0.069          3.319          0              0              0              31
   9  SoapBottle         -0.500         0.447          0.090          0              0              0              21
  10  Towel              -0.07          1.284          0.106          0              0              0              32
  11  HandTowel          -1.731         1.333          3.961          0              0              0              34
  12  SoapBar            -1.827         0.067          3.248          0              0              0              31
  13  ToiletPaper        0.349          0.873          3.815          0              0              0              41
  14  ToiletPaper        -0.500         0.443          0.236          0              0              0              21
  15  Cloth              -1.527         0.074          0.465          0              0              0              23
  16  SprayBottle        -0.089         1.160          3.894          0              0              0              51
  17  Candle             0.401          1.164          3.926          0              0              0              51
  18  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  19  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  20  SoapBottle         -1.741         0.069          2.927          0              0              0              30
  21  Bathtub            -1.414         -0.002         0.563          0              0              0
  22  CounterTop         -1.799         0.746          3.122          0              0              0
  23  BathtubBasin       -1.613         0.052          0.540          0              0              0
  24  Cabinet            -1.613         0.309          2.493          0              0              0
  25  ShowerDoor         0.527          1.037          2.115          0              0              0
  26  Mirror             -1.993         1.424          3.107          0              0              0
  27  Cabinet            -1.613         0.309          3.754          0              0              0
  28  Faucet             -1.873         0.461          0.641          0              0              0
  29  Sink               -1.834         0.685          2.777          0              90             0
  30  Cabinet            -1.613         0.309          3.105          0              0              0
  31  Cabinet            -1.613         0.309          3.140          0              0              0
  32  TowelHolder        -0.070         1.269          0.0            0              0              0
  33  GarbageCan         0.932          -0.029         3.761          0              0              0
  34  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  35  Window             -1.039         1.393          0.018          90             0              0
  36  Window             -1.986         1.392          0.706          90             90             0
  37  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  38  SinkBasin          -1.795         0.694          2.781          0              90             0
  39  LightSwitch        1.250          1.330          3.621          0              270            0
  40  Toilet             -1.567         -0.000         1.815          0              180            0
  41  Drawer             0.204          0.940          3.807          0              180            0
  42  Dresser            0.204          0.000          3.832          0              180            0
  43  Drawer             0.204          0.160          3.807          0              180            0
  44  Drawer             0.204          0.420          3.807          0              180            0
  45  Drawer             0.204          0.680          3.807          0              180            0
  46  SinkBasin          -1.795         0.694          3.476          0              90             0
  47  Sink               -1.833         0.685          3.472          0              90             0
  48  Faucet             -1.988         0.947          3.472          0              180            0
  49  ShowerHead         0.972          1.222          2.015          0              270            0
  50  Faucet             -1.988         0.947          2.776          0              180            0
  51
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: turn around, walk across room to the trash can | STEP 2: pick up the pink bar of soap that is in the trash can | STEP 3: put the soap in the sink, fill sink with water, take soap out | STEP 4: turn around, walk forward, turn right, turn right to face tub | STEP 5: put the soap in to the tub | END