Task: Place a washed bar of soap in a bath tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.902          3.0            0              0              0
   1  SoapBar            0.762          0.118          3.016          0              0              0              35
   2  SprayBottle        -2.463         1.047          1.822          0              90             0              36
   3  ToiletPaper        -2.616         1.043          1.822          0              90             0              36
   4  HandTowel          1.033          1.671          3.127          0              90             0              33
   5  Towel              0.474          1.182          0.134          0              0              0              29
   6  SoapBar            -1.083         0.180          0.385          0              0              0              32
   7  ToiletPaper        -2.626         0.790          1.235          0              90             270            30
   8  SoapBottle         -2.098         0.587          0.250          0              0              0              23
   9  ToiletPaper        0.508          0.738          1.442          0              0              0              20
  10  ScrubBrush         -2.557         0.001          2.200          0              0              0
  11  Plunger            -2.568         0.000          1.992          0              0              0
  12  Cloth              -0.692         0.181          0.432          0              0              0              32
  13  Candle             -2.585         1.044          1.625          0              90             0              36
  14  SprayBottle        -2.463         1.047          1.494          0              90             0              36
  15  Window             -2.808         0.962          0.514          0              0              0
  16  Bathtub            -1.062         0.300          0.427          0              0              0
  17  Drawer             0.409          0.551          1.486          0              0              0
  18  Mirror             0.986          1.676          1.896          0              0              0
  19  ShowerDoor         -2.671         1.001          2.797          0              0              0
  20  CounterTop         0.732          0.697          1.955          0              0              0
  21  Drawer             0.409          0.314          2.420          0              0              0
  22  ShowerGlass        -1.713         1.276          3.298          0              0              0
  23  CounterTop         -0.298         0.157          0.531          0              0              0
  24  Sink               0.812          0.703          1.920          0              270            0
  25  Drawer             0.409          0.551          2.420          0              0              0
  26  Window             -0.957         1.563          -0.059         0              0              0
  27  Drawer             0.409          0.314          1.486          0              0              0
  28  TowelHolder        1.038          1.179          0.495          0              270            0
  29  TowelHolder        0.474          1.168          0.027          0              0              0
  30  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  31  SinkBasin          0.720          0.812          1.896          349.201        270            0
  32  BathtubBasin       -0.721         0.171          0.479          0              0              0
  33  HandTowelHolder    1.071          1.773          3.127          0              180            0
  34  LightSwitch        0.220          1.416          3.998          0              180            0
  35  GarbageCan         0.713          -0.028         3.110          0              0              0
  36  Toilet             -2.232         0.001          1.628          0              180            0
  37  ShowerHead         -2.619         1.819          3.361          0              270            0
  38  Faucet             1.047          1.036          1.921          0              0              0
  39  Faucet             0.318          0.631          0.479          0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the soap. | STEP 3: Turn around walk right to the sink. | STEP 4: Rinse the soap in the sink. | STEP 5: Turn around and walk back to the tub. | STEP 6: Place the soap in the tub in front of the rag. | END