Task: place clean soap inside 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              -2.5           0.904          0.75           0              180            0
   1  Cloth              -3.038         1.002          -0.287         0              0              0              33
   2  Cloth              -3.100         0.109          -0.122         0              0              0              28
   3  SoapBar            -3.193         1.048          1.066          0              90             0              40
   4  SoapBar            -2.805         1.002          0.551          0              303.713        0              33
   5  SoapBar            -3.105         0.049          0.822          0              0              0              34
   6  SoapBottle         -3.285         1.050          1.066          0              90             0              40
   7  SoapBottle         -2.962         1.004          -0.601         0              0              0              33
   8  HandTowel          -3.321         1.464          0.762          0              270            0              37
   9  ToiletPaper        -3.053         1.866          1.164          0              0              0              30
  10  Towel              -1.615         1.398          1.800          0              180            0              35
  11  HandTowel          -2.96          1.593          -0.728         0              180            0              36
  12  SoapBar            -0.476         0.033          0.352          0              0              0              31
  13  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             39
  14  ToiletPaper        -3.254         1.045          1.329          0              90             0              40
  15  Candle             -3.034         0.110          -0.022         0              0              0              28
  16  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  17  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  18  SoapBottle         -3.053         1.871          1.315          0              0              0              30
  19  Cloth              -0.476         0.033          0.811          0              0              0              31
  20  SprayBottle        -3.113         1.003          -0.444         0              0              0              33
  21  Faucet             -0.618         0.667          1.805          0              0              0
  22  Cabinet            -2.761         0.446          0.599          0              0              0
  23  Cabinet            -2.756         0.421          -0.759         0              0              0
  24  Cabinet            -2.905         2.098          1.878          0              0              0
  25  Sink               -3.016         0.865          0.207          0              90             0
  26  Bathtub            -0.603         0.286          0.832          0              0              0
  27  SinkBasin          -3.016         0.874          0.217          0              90             0
  28  Cabinet            -2.756         0.421          -0.272         0              0              0
  29  Faucet             -3.313         0.989          0.207          0              90             0
  30  Cabinet            -2.900         2.053          1.005          0              0              0
  31  BathtubBasin       -0.558         0.023          0.811          0              0              0
  32  Mirror             -3.348         1.476          0.020          0              0              0
  33  CounterTop         -3.049         1.039          -0.442         0              0              0
  34  GarbageCan         -3.080         -0.007         0.899          0              0              0
  35  TowelHolder        -1.615         1.383          1.907          0              180            0
  36  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  37  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  38  LightSwitch        -2.313         1.426          -0.766         0              0              0
  39  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  40  Toilet             -2.931         0.003          1.364          0              180            0
  41  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn right to face the blue garbage bin on the floor | STEP 2: grab the soap out of the garbage bin | STEP 3: move to the left a bit and face the bathroom sink | STEP 4: rinse the soap out in the sink, then pick the soap back up | STEP 5: turn around and go to the bathtub | STEP 6: place the soap inside of the bathtub | END