Task: place a wet 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              0.5            0.900          -1.75          0              0              0
   1  Cloth              -1.974         0.042          -2.395         0              270            0              29
   2  TissueBox          0.852          0.818          -1.773         0              90             0              33
   3  SoapBar            -1.640         0.044          -2.108         0              270            0              29
   4  SprayBottle        -1.555         0.815          -0.137         0              0              0              31
   5  SoapBottle         -1.252         0.821          -0.108         0              0              0              31
   6  ToiletPaper        -0.008         0.949          -3.847         0              90             0              27
   7  SoapBottle         -1.656         0.821          -0.193         0              0              0              31
   8  Cloth              -2.085         0.042          -3.255         0              270            0              29
   9  Candle             -1.757         0.817          -0.165         0              0              0              31
  10  HandTowel          -2.166         1.500          -0.037         0              0              0              24
  11  Towel              -1.525         1.685          -0.105         0              180            0              22
  12  SoapBar            0.839          0.818          -0.522         0              90             0              32
  13  ToiletPaper        -0.556         0.082          -3.778         0              0              0              23
  14  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  15  SprayBottle        -1.454         0.815          -0.080         0              0              0              31
  16  TissueBox          0.179          0.953          -3.874         0              90             0              27
  17  ToiletPaper        0.405          0.729          -3.885         0              0              270            30
  18  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  19  Sink               -2.171         0.294          -0.660         0              90             0
  20  Bathtub            -2.122         -0.088         -3.116         0              0              0
  21  Mirror             -2.503         1.423          -0.703         0              0              0
  22  TowelHolder        -1.524         1.671          0.001          0              180            0
  23  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  24  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  25  LightSwitch        0.321          1.327          0.000          0              180            0
  26  Window             -0.540         1.625          -3.996         90             0              0
  27  Toilet             0.004          -0.000         -3.436         0              0              0
  28  SinkBasin          -2.176         0.824          -0.659         0              0              0
  29  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  30  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  31  SideTable          -1.526         0.001          -0.172         0              0              0
  32  SideTable          0.780          0.001          -0.667         0              90             0
  33  SideTable          0.793          0.001          -1.817         0              90             0
  34  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  35  Faucet             -2.431         0.982          -0.660         0              90             0
  36  Faucet             -1.909         0.666          -3.855         0              180            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: turn left and move to he bath tub | STEP 2: pick up the soap from the tub | STEP 3: turn right and head to the sink | STEP 4: place the soap in the sink and wet it | STEP 5: turn around and head to the tub | STEP 6: place the soap in the tub | END