Task: To wash a bar of soap and place 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              0.5            0.900          3.0            0              270            0
   1  SoapBar            -0.414         0.446          0.090          0              0              0              15
   2  SprayBottle        -1.829         1.045          2.009          0              90             0              34
   3  SoapBottle         -0.370         0.447          0.236          0              0              0              15
   4  Towel              -0.07          1.284          0.106          0              0              0              26
   5  HandTowel          -1.731         1.333          3.961          0              0              0              28
   6  SoapBar            0.060          0.615          3.792          0              0              0              39
   7  ToiletPaper        -0.089         1.156          3.861          0              0              0              45
   8  ToiletPaper        0.349          0.089          3.839          0              0              0              37
   9  Cloth              -1.630         0.074          1.159          0              315            0              17
  10  SprayBottle        -1.764         0.018          2.246          0              0              0              18
  11  Candle             -1.905         0.069          3.540          0              0              0              21
  12  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  13  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  14  SoapBottle         -0.500         0.447          0.163          0              0              0              15
  15  Bathtub            -1.414         -0.002         0.563          0              0              0
  16  CounterTop         -1.799         0.746          3.122          0              0              0
  17  BathtubBasin       -1.613         0.052          0.540          0              0              0
  18  Cabinet            -1.613         0.309          2.493          0              0              0
  19  ShowerDoor         0.527          1.037          2.115          0              0              0
  20  Mirror             -1.993         1.424          3.107          0              0              0
  21  Cabinet            -1.613         0.309          3.754          0              0              0
  22  Faucet             -1.873         0.461          0.641          0              0              0
  23  Sink               -1.834         0.685          2.777          0              90             0
  24  Cabinet            -1.613         0.309          3.105          0              0              0
  25  Cabinet            -1.613         0.309          3.140          0              0              0
  26  TowelHolder        -0.070         1.269          0.0            0              0              0
  27  GarbageCan         0.932          -0.029         3.761          0              0              0
  28  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  29  Window             -1.039         1.393          0.018          90             0              0
  30  Window             -1.986         1.392          0.706          90             90             0
  31  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  32  SinkBasin          -1.795         0.694          2.781          0              90             0
  33  LightSwitch        1.250          1.330          3.621          0              270            0
  34  Toilet             -1.567         -0.000         1.815          0              180            0
  35  Drawer             0.204          0.940          3.807          0              180            0
  36  Dresser            0.204          0.000          3.832          0              180            0
  37  Drawer             0.204          0.160          3.807          0              180            0
  38  Drawer             0.204          0.420          3.807          0              180            0
  39  Drawer             0.204          0.680          3.807          0              180            0
  40  SinkBasin          -1.795         0.694          3.476          0              90             0
  41  Sink               -1.833         0.685          3.472          0              90             0
  42  Faucet             -1.988         0.947          3.472          0              180            0
  43  ShowerHead         0.972          1.222          2.015          0              270            0
  44  Faucet             -1.988         0.947          2.776          0              180            0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn left and walk across the room to face the left side of the tub. | STEP 2: Pick up the bar of soap on the left side of the tub. | STEP 3: Turn around and walk forward and turn left to face the left side of the sink. | STEP 4: Place the soap in the left side of the sink. | STEP 5: Turn left and walk forward to face the tub. | STEP 6: Place the soap in the tub on the left side. | END