Task: Put the clean 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          0.903          4.25           0              90             0
   1  Candle             0.306          0.106          2.448          0              0              0              25
   2  SprayBottle        0.765          1.055          3.848          0              0              0              23
   3  SprayBottle        0.160          0.098          3.655          0              0              0              19
   4  SoapBottle         0.672          1.044          4.116          0              0              358.989        23
   5  SoapBottle         0.539          1.058          2.108          0              0              0              23
   6  Towel              -2.393         1.478          0.580          0              90             0              26
   7  Candle             0.046          1.063          3.236          0              0              0              23
   8  Cloth              0.524          0.097          2.352          0              0              0              25
   9  HandTowel          0.397          1.656          2.039          0              180            0              30
  10  Plunger            0.480          0.002          4.793          0              0              0
  11  SoapBar            0.161          0.097          2.738          0              0              0              25
  12  ToiletPaper        -0.047         0.971          4.911          0              180            90             27
  13  ToiletPaper        0.760          1.062          4.072          316.415        51.695         270            23
  14  SoapBottle         0.668          1.051          4.473          0              0              0              32
  15  SprayBottle        0.452          0.098          2.158          0              0              0              25
  16  ScrubBrush         0.688          0.002          4.867          0              0              0
  17  Sink               0.426          1.037          2.947          0              270            0
  18  Window             -2.548         1.673          2.405          0              0              0
  19  Cabinet            0.068          0.366          3.772          0              0              0
  20  Bathtub            -1.042         0.155          0.558          0              0              0
  21  SinkBasin          0.404          0.926          2.926          0              270            0
  22  Mirror             0.858          1.863          2.972          0              0              0
  23  CounterTop         0.487          1.015          3.090          0              0              0
  24  Faucet             -0.207         0.687          0.546          0              0              0
  25  Cabinet            0.074          0.379          2.045          0              0              0
  26  TowelHolder        -2.5           1.463          0.579          0              90             0
  27  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  28  LightSwitch        -1.121         1.333          5.000          0              180            0
  29  BathtubBasin       -1.062         0.153          0.556          0              0              0
  30  HandTowelHolder    0.398          1.758          2.000          0              270            0
  31  GarbageCan         -0.229         0.001          1.445          0              270            0
  32  Toilet             0.376          0.002          4.470          0              0              0
  33  Faucet             0.661          1.043          3.371          0              270            0
  34  Faucet             0.661          1.043          2.520          0              270            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn right head to the sink cabinet | STEP 2: Open the cabinet below the sink on the right, pick up a soap then close it  | STEP 3: Move to the front then turn left move a little then turn right to the sink | STEP 4: Put the soap in the left side of the sink and rinse it | STEP 5: Turn right then head to the tub | STEP 6: Put the soap in the tub | END