Task: Place soap 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              -1.25          0.900          -0.5           0              180            0
   1  SoapBar            0.466          0.591          -1.073         0              0              0              29
   2  SoapBar            -0.627         0.016          -1.486         0              0              0              21
   3  Candle             0.573          0.590          -0.362         0              0              0              29
   4  Candle             -1.929         0.907          -1.350         0              0              0              24
   5  SprayBottle        0.098          0.153          -1.537         0              90             0              41
   6  SoapBottle         -1.235         0.019          -1.587         0              0              0              20
   7  SoapBottle         -1.994         1.046          0.272          0              90             0              42
   8  ToiletPaper        -0.371         0.014          -1.638         0              0              0              27
   9  Towel              0.89           1.368          -1.755         0              0              0              34
  10  HandTowel          -2.028         1.492          -1.482         0              270            0              40
  11  SoapBar            -1.871         1.044          0.337          0              90             0              42
  12  ToiletPaper        -1.199         0.919          0.680          0              180            270            35
  13  ToiletPaper        -1.960         0.013          -1.588         0              0              0              30
  14  Cloth              1.062          0.171          -0.962         0              270            0              38
  15  SprayBottle        -1.902         1.045          0.206          0              90             0              42
  16  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  17  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  18  Candle             -1.411         0.015          -1.435         0              0              0              30
  19  SoapBottle         -1.667         0.018          -1.486         0              0              0              30
  20  Cabinet            -1.052         0.340          -1.327         0              0              0
  21  Cabinet            -1.039         0.340          -1.327         0              0              0
  22  ShowerGlass        0.919          1.417          -0.206         0              0              0
  23  Sink               -1.560         0.811          -1.598         0              0              0
  24  CounterTop         -1.041         0.884          -1.531         0              0              0
  25  ShowerDoor         0.451          0.926          0.696          0              0              0
  26  Faucet             -0.505         0.898          -1.779         0              0              0
  27  Cabinet            -0.071         0.340          -1.327         0              0              0
  28  Mirror             -1.014         1.501          -1.840         0              0              0
  29  Bathtub            0.883          0.392          -1.154         0              0              0
  30  Cabinet            -2.020         0.340          -1.327         0              0              0
  31  Sink               -0.526         0.811          -1.598         0              0              0
  32  Window             1.532          1.672          -1.037         0              0              0
  33  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  34  TowelHolder        0.889          1.353          -1.861         0              0              0
  35  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  36  LightSwitch        0.224          1.333          0.762          0              180            0
  37  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  38  BathtubBasin       0.938          0.160          -1.126         0              270            0
  39  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  40  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  41  GarbageCan         0.122          -0.002         -1.558         0              270            0
  42  Toilet             -1.610         -0.000         0.209          0              180            0
  43  Faucet             -1.537         0.898          -1.779         0              0              0
  44  Faucet             0.929          0.509          -1.978         0              0              0
  45  Faucet             0.890          1.689          0.724          0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn left and face the tub in front of you. | STEP 2: Take the soap from the tub in front of you. | STEP 3: Turn right, then face the tub on your right. | STEP 4: Place the soap in the tub in front of you. | STEP 5: Turn around and face the sink on your left. | STEP 6: Open the cabinet under the sink in front of you and take out another bar of soap, close the cabinet. | STEP 7: Turn left and face the tub in front of you. | STEP 8: Place the bar of soap in the tub in front of you. | END