Task: place a wet soap in the 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              -1.5           0.901          1.75           0              180            0
   1  TissueBox          -1.435         0.508          0.182          0              90             0              28
   2  SoapBar            -0.805         0.808          0.090          0              90             0              23
   3  Candle             -2.193         0.953          2.577          0              180            0              37
   4  Towel              -2.554         0.873          0.106          0              0              0              31
   5  Towel              -2.554         1.597          0.106          0              0              0              30
   6  Cloth              -1.853         0.806          0.417          0              90             0              23
   7  Candle             -2.247         0.953          2.577          0              180            0              37
   8  HandTowel          -0.038         1.68           2.956          0              90             0              34
   9  SoapBar            -2.247         0.953          2.327          0              180            0              37
  10  ToiletPaper        -2.250         0.946          2.670          0              0              0              37
  11  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  12  SprayBottle        -2.301         0.951          2.390          0              180            0              37
  13  TissueBox          -1.269         0.201          0.182          0              90             0              22
  14  ToiletPaper        -1.567         0.843          3.221          0              180            270            33
  15  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  16  SoapBottle         -1.591         0.809          0.221          0              90             0              23
  17  Drawer             -1.324         0.312          0.311          0              90             0
  18  Drawer             -0.290         0.312          0.311          0              90             0
  19  Sink               -0.463         -0.013         3.046          0              180            0
  20  Mirror             -0.504         1.741          3.304          0              0              0
  21  Drawer             -0.808         0.611          0.311          0              90             0
  22  Drawer             -0.808         0.312          0.311          0              90             0
  23  CounterTop         -1.850         0.001          0.342          0              90             0
  24  Bathtub            -3.499         0.148          0.939          0              0              0
  25  Drawer             -1.840         0.312          0.311          0              90             0
  26  Faucet             -0.463         0.969          3.212          0              180            0
  27  Drawer             -0.290         0.611          0.311          0              90             0
  28  Drawer             -1.324         0.611          0.311          0              90             0
  29  Drawer             -1.840         0.611          0.311          0              90             0
  30  TowelHolder        -2.553         1.582          0.0            0              0              0
  31  TowelHolder        -2.553         0.859          0.0            0              0              0
  32  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  33  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  34  HandTowelHolder    0.0            1.781          2.956          0              180            0
  35  LightSwitch        0.0            1.368          1.993          0              270            0
  36  Window             -4.083         1.735          1.162          90             270            0
  37  Toilet             -1.835         0.000          2.503          0              90             0
  38  SinkBasin          -0.452         0.888          2.969          0              180            0
  39  BathtubBasin       -3.518         0.210          0.939          0              0              0
  40  ShowerHead         -3.540         1.821          1.820          0              0              0
  41  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: turn around towards the toilet | STEP 2: pick up a soap on the toilet | STEP 3: turn right and head for the sink | STEP 4: place the soap in the sink wet it and take it out | STEP 5: turn around and head to the bath tub | STEP 6: place the soap in the tub | END