Task: To rinse off a bar of soap and place the 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              -0.75          0.900          0.5            0              180            0
   1  Cloth              -0.379         0.934          -1.497         347.851        0              0              37
   2  Cloth              1.000          0.171          -1.248         0              270            0              38
   3  SoapBar            0.477          0.591          -0.694         0              0              0              29
   4  SoapBar            -1.949         0.908          -1.622         0              0              0              24
   5  Candle             -1.963         1.042          0.272          0              90             0              42
   6  Candle             -1.294         0.015          -1.385         0              0              0              30
   7  SprayBottle        -1.871         1.045          0.337          0              90             0              42
   8  SprayBottle        -1.294         0.018          -1.587         0              0              0              30
   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            0.502          0.591          -0.386         0              0              0              29
  12  ToiletPaper        -1.608         0.013          -1.435         0              0              0              30
  13  ToiletPaper        -1.199         0.919          0.680          0              180            270            35
  14  Cloth              -1.413         0.926          -1.534         347.851        0              0              39
  15  SprayBottle        -1.843         0.017          -1.537         0              0              0              30
  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             -0.085         0.907          -1.349         0              0              0              24
  19  SoapBottle         -1.235         0.019          -1.486         0              0              0              20
  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: Walk up to the sink and turn left to face the tub.  | STEP 2: Pick up the bar of soap on the right at the edge of the tub.  | STEP 3: Turn around and walk to the sink on the left.  | STEP 4: Place the bar of soap inside of the sink, rinse off the bar of soap with water, pick up the bar of soap from the sink.  | STEP 5: Turn left and walk over to the tub.  | STEP 6: Place the bar of soap inside of the tub in front of the drain.  | END