Task: Rinse a bar of soap and place it 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              -1.0           0.903          2.25           0              0              0
   1  SoapBar            0.160          0.097          3.070          0              0              0              21
   2  SoapBar            0.160          0.097          3.167          0              0              0              21
   3  SoapBar            -0.680         0.164          0.826          0              0              0              31
   4  Candle             0.769          1.063          3.125          0              0              0              25
   5  SoapBottle         -0.122         0.155          1.383          0              90             0              33
   6  SoapBottle         0.298          1.058          4.049          0              0              0              25
   7  ToiletPaper        0.298          1.051          3.781          0              0              0              25
   8  Towel              -2.393         1.478          0.580          0              90             0              28
   9  Candle             0.594          0.106          3.655          0              0              0              21
  10  Cloth              -2.243         0.704          0.572          0              0              0              22
  11  HandTowel          0.397          1.656          2.039          0              180            0              32
  12  Plunger            0.480          0.002          4.793          0              0              0
  13  SoapBar            0.594          0.097          3.167          0              0              0              21
  14  ToiletPaper        0.232          0.094          3.558          0              0              0              21
  15  ToiletPaper        0.786          1.051          2.777          0              0              0              25
  16  SoapBottle         0.449          0.101          3.655          0              0              0              21
  17  SprayBottle        0.752          1.055          2.169          0              0              0              25
  18  ScrubBrush         0.688          0.002          4.867          0              0              0
  19  Sink               0.426          1.037          2.947          0              270            0
  20  Window             -2.548         1.673          2.405          0              0              0
  21  Cabinet            0.068          0.366          3.772          0              0              0
  22  Bathtub            -1.042         0.155          0.558          0              0              0
  23  SinkBasin          0.404          0.926          2.926          0              270            0
  24  Mirror             0.858          1.863          2.972          0              0              0
  25  CounterTop         0.487          1.015          3.090          0              0              0
  26  Faucet             -0.207         0.687          0.546          0              0              0
  27  Cabinet            0.074          0.379          2.045          0              0              0
  28  TowelHolder        -2.5           1.463          0.579          0              90             0
  29  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  30  LightSwitch        -1.121         1.333          5.000          0              180            0
  31  BathtubBasin       -1.062         0.153          0.556          0              0              0
  32  HandTowelHolder    0.398          1.758          2.000          0              270            0
  33  GarbageCan         -0.229         0.001          1.445          0              270            0
  34  Toilet             0.376          0.002          4.470          0              0              0
  35  Faucet             0.661          1.043          3.371          0              270            0
  36  Faucet             0.661          1.043          2.520          0              270            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the right and face the sink. | STEP 2: Open the bottom left cabinet and take out a bar of soap. | STEP 3: Hold the bar of soap and look up. | STEP 4: Place the bar of soap in the sink and turn on the water. Turn of the water and pick up the soap. | STEP 5: Carry the soap and turn to the right to find the bath tub. | STEP 6: Place the soap inside the bath tub. | END