Task: Put a wet bar of soap in the cleaning bucket.

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           0.902          0.5            0              90             0
   1  Candle             -1.540         1.002          0.488          0              0              0              16
   2  SoapBar            0.211          0.033          0.340          0              270            0              28
   3  SoapBottle         -2.957         0.184          -1.56          0              0              0              27
   4  Towel              -0.490         1.367          0.902          0              180            0              26
   5  Candle             -0.203         0.558          -0.333         0              0              0              18
   6  HandTowel          -3.096         1.587          0.744          0              270            0              30
   7  SoapBar            -0.860         1.045          0.814          0              180            0              32
   8  ToiletPaper        -1.416         0.816          0.665          0              90             270            31
   9  Cloth              0.349          0.034          -0.103         0              270            0              28
  10  ToiletPaper        -0.865         1.038          0.946          357.597        0              0              32
  11  SprayBottle        -2.856         0.184          -1.56          0              0              0              27
  12  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  13  SoapBottle         -2.902         0.083          0.696          0              0              0              15
  14  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  15  Cabinet            -3.094         0.390          0.421          0              0              0
  16  CounterTop         -2.298         0.953          0.689          0              0              0
  17  Cabinet            -2.305         0.415          0.425          0              0              0
  18  Bathtub            0.286          0.290          -0.077         0              0              0
  19  Cabinet            -1.496         0.415          0.425          0              0              0
  20  Cabinet            -2.286         0.390          0.421          0              0              0
  21  Sink               -1.924         0.930          0.675          0              180            0
  22  Faucet             -1.922         1.015          0.887          0              0              0
  23  Mirror             -2.306         1.526          1.001          0              0              0
  24  Faucet             -2.681         1.015          0.887          0              0              0
  25  LightSwitch        -1.389         1.263          -1.693         0              0              0
  26  TowelHolder        -0.490         1.353          1.009          0              180            0
  27  GarbageCan         -2.857         0.016          -1.487         0              0              0
  28  BathtubBasin       0.349          0.023          -0.135         0              270            0
  29  SinkBasin          -1.908         0.961          0.669          0              180            0
  30  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  31  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  32  Toilet             -1.054         0.001          0.552          0              270            0
  33  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  34  Faucet             0.270          0.670          0.906          0              0              0
  35  SinkBasin          -2.666         0.961          0.669          0              180            0
  36  Sink               -2.681         0.930          0.675          0              180            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Step back and move over to your right so that you are in front of the head of the bath tub.  | STEP 2: Pick up the bar of soap, to the left of the purple rag, in the bath tub.  | STEP 3: Turn around and go to the wall across the room, then turn to the sink to the right of you.  | STEP 4: Place the bar of soap in the sink, turn the water on, get the bar of soap wet, turn the water off, and remove the bar of soap from the sink.  | STEP 5: Turn around and go to the bucket of cleaning supplies, in the right corner of the room.  | STEP 6: Place the bar of soap in the right side of the bucket.  | END