Task: Put a clean bar of soap in 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              -0.75          0.900          -1.0           0              180            0
   1  Cloth              0.815          0.171          -0.962         0              270            0              35
   2  Cloth              -1.560         0.934          -1.497         347.851        0              0              36
   3  SoapBar            -0.137         0.017          -1.688         0              0              0              24
   4  SoapBar            1.000          0.171          -1.248         0              270            0              35
   5  SprayBottle        -1.902         1.045          0.403          0              90             0              39
   6  Towel              0.89           1.368          -1.755         0              0              0              31
   7  HandTowel          -2.028         1.492          -1.482         0              270            0              37
   8  SoapBar            -0.996         0.908          -1.350         0              0              0              21
   9  ToiletPaper        0.544          0.588          -1.748         0              0              0              26
  10  ToiletPaper        -1.894         1.037          0.023          1.050          0              358.837        39
  11  Cloth              -0.920         0.017          -1.486         0              0              0              18
  12  SprayBottle        -1.994         1.045          0.272          0              90             0              39
  13  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  14  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  15  Candle             -1.411         0.015          -1.435         0              0              0              27
  16  SoapBottle         -0.686         0.018          -1.588         0              0              0              18
  17  Cabinet            -1.052         0.340          -1.327         0              0              0
  18  Cabinet            -1.039         0.340          -1.327         0              0              0
  19  ShowerGlass        0.919          1.417          -0.206         0              0              0
  20  Sink               -1.560         0.811          -1.598         0              0              0
  21  CounterTop         -1.041         0.884          -1.531         0              0              0
  22  ShowerDoor         0.451          0.926          0.696          0              0              0
  23  Faucet             -0.505         0.898          -1.779         0              0              0
  24  Cabinet            -0.071         0.340          -1.327         0              0              0
  25  Mirror             -1.014         1.501          -1.840         0              0              0
  26  Bathtub            0.883          0.392          -1.154         0              0              0
  27  Cabinet            -2.020         0.340          -1.327         0              0              0
  28  Sink               -0.526         0.811          -1.598         0              0              0
  29  Window             1.532          1.672          -1.037         0              0              0
  30  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  31  TowelHolder        0.889          1.353          -1.861         0              0              0
  32  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  33  LightSwitch        0.224          1.333          0.762          0              180            0
  34  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  35  BathtubBasin       0.938          0.160          -1.126         0              270            0
  36  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  37  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  38  GarbageCan         0.122          -0.002         -1.558         0              270            0
  39  Toilet             -1.610         -0.000         0.209          0              180            0
  40  Faucet             -1.537         0.898          -1.779         0              0              0
  41  Faucet             0.929          0.509          -1.978         0              0              0
  42  Faucet             0.890          1.689          0.724          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn to your left and go to the bathtub across from you.  | STEP 2: Pick up the bar of soap in the bath tub, to the right of the rag.  | STEP 3: Turn around and go to the first sink on your left.  | STEP 4: Put the bar of soap in the sink, turn the water on, rinse the soap off, turn the water off, and take the bar of soap out of the sink.  | STEP 5: Turn to your left and go back to the bathtub.  | STEP 6: Place the bar of soap back in the bathtub, to the left of the rag.  | END