Task: Place a rinsed bar of pink soap into 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              -1.75          0.901          1.0            0              90             0
   1  SoapBar            -2.197         0.813          0.342          0              0              0              29
   2  SoapBar            -3.017         0.954          3.246          0              270            0              41
   3  SoapBar            -1.816         0.017          0.109          0              0              0              35
   4  Candle             -2.922         0.813          0.217          0              0              0              29
   5  SprayBottle        -1.792         0.019          0.165          0              0              0              35
   6  HandTowel          -0.034         1.537          3.105          0              90             0              37
   7  Towel              -1.513         1.496          0.109          0              0              0              33
   8  Cloth              -2.037         0.811          0.342          0              0              0              29
   9  SoapBar            -2.892         0.954          3.220          0              270            0              41
  10  ToiletPaper        -2.686         0.946          3.182          0              0              0              41
  11  Plunger            -2.530         0.000          3.026          0              0              0
  12  Candle             -2.973         0.195          0.448          0              0              0              23
  13  SoapBottle         -0.255         0.219          1.626          0              0              0              19
  14  ToiletPaper        -0.309         0.215          2.502          0              0              0              20
  15  SprayBottle        -0.155         0.813          1.585          0              0              0              32
  16  ScrubBrush         -2.332         0.000          3.163          0              0              0
  17  Drawer             -0.325         0.319          2.155          0              0              0
  18  Mirror             0.0            1.473          1.917          0              270            0
  19  Drawer             -0.325         0.319          1.717          0              0              0
  20  Drawer             -0.325         0.319          2.592          0              0              0
  21  Bathtub            -3.589         0.107          1.521          0              0              0
  22  Drawer             -0.325         0.619          2.592          0              0              0
  23  Drawer             -2.249         0.319          0.280          0              0              0
  24  Drawer             -0.325         0.319          3.030          0              0              0
  25  Mirror             0.0            1.473          2.700          0              270            0
  26  Drawer             -0.325         0.619          3.030          0              0              0
  27  ShowerGlass        -0.494         1.490          0.528          0              0              0
  28  Sink               -2.539         0.661          0.252          0              0              0
  29  CounterTop         -2.540         0.805          0.280          0              0              0
  30  Drawer             -2.844         0.319          0.280          0              0              0
  31  ShowerDoor         -1.074         1.033          0.519          0              0              0
  32  CounterTop         -0.277         0.785          1.931          0              0              0
  33  TowelHolder        -1.513         1.481          0.002          0              0              0
  34  LightSwitch        -0.776         1.371          3.300          0              180            0
  35  GarbageCan         -1.754         0.001          0.227          0              0              0
  36  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  37  HandTowelHolder    0.004          1.639          3.105          0              180            0
  38  HandTowelHolder    0.004          1.639          2.309          0              180            0
  39  HandTowelHolder    0.004          1.639          1.542          0              180            0
  40  Window             -4.127         1.519          1.495          90             270            0
  41  Toilet             -2.842         0.000          2.755          0              180            0
  42  SinkBasin          -2.542         0.706          0.269          0              0              0
  43  BathtubBasin       -3.606         0.182          1.536          0              270            0
  44  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  45  Faucet             -2.540         0.794          0.111          0              0              0
  46  Faucet             -0.111         0.794          1.921          0              270            0
  47  ShowerHead         -3.612         1.776          2.299          0              0              0
  48  ShowerHead         -0.079         1.151          0.662          0              0              0
  49  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  50  Sink               -0.260         0.661          1.922          0              270            0
  51  SinkBasin          -0.277         0.706          1.920          0              270            0
  52  NorthWall
  53  SouthWall
  54  SouthWall

Plan:
STEP 1: Turn around and walk to the soap to the left of the sink. | STEP 2: Pick up the pink bar of soap on the counter. | STEP 3: Walk to the sink to the right of the green rag. | STEP 4: Rinse the soap in the sink and then pick the soap up. | STEP 5: Turn right and walk to the tub. | STEP 6: Place the bar of soap in the tub. | END