Task: To move two bars of soap to the center of 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              -2.0           0.903          0.5            0              0              0
   1  TissueBox          -2.080         1.047          -0.674         0              0              0              38
   2  TissueBox          -0.980         1.773          2.127          0              0              0              31
   3  Cloth              0.124          0.048          0.156          0              0              0              32
   4  SoapBar            -0.181         0.609          1.589          0              45             0              25
   5  SoapBar            -2.343         1.046          -0.766         0              0              0              38
   6  SoapBar            -0.304         0.609          0.039          0              0              0              25
   7  Candle             -0.817         1.814          2.067          0              0              0              33
   8  SprayBottle        -2.212         1.048          -0.674         0              0              0              38
   9  SprayBottle        -0.980         1.071          2.067          0              0              0              33
  10  HandTowel          -0.541         1.502          -0.846         0              180            0              35
  11  ToiletPaper        -1.308         1.066          2.217          0              0              0              33
  12  Candle             -2.343         1.088          -0.827         0              0              0              38
  13  HandTowel          -1.743         1.502          -0.846         0              180            0              34
  14  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  15  SoapBar            -0.653         1.069          2.127          0              0              0              33
  16  ToiletPaper        -0.187         0.606          -0.466         0              315            0              25
  17  SoapBottle         -1.666         0.083          -0.549         0              270            0              26
  18  TissueBox          -1.144         0.289          2.157          0              0              0              29
  19  Cloth              -1.308         1.777          2.157          0              0              0              31
  20  ToiletPaper        -1.660         0.809          -0.769         0              0              90             28
  21  Towel              0.266          1.550          -0.452         0              0              0              27
  22  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  23  SprayBottle        -2.080         1.048          -0.797         0              0              0              38
  24  Mirror             -1.105         1.754          -0.884         0              0              0
  25  Bathtub            0.221          0.343          0.636          0              0              0
  26  Sink               -1.128         -0.001         -0.593         0              0              0
  27  TowelHolder        0.266          1.536          -0.559         0              0              0
  28  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  29  Shelf              -1.167         0.278          2.157          0              0              0
  30  SinkBasin          -1.133         0.836          -0.580         0              0              0
  31  Shelf              -1.167         1.763          2.157          0              0              0
  32  BathtubBasin       0.277          0.033          0.611          0              0              0
  33  Shelf              -1.167         1.059          2.157          0              0              0
  34  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  35  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  36  GarbageCan         -2.715         0.004          -0.513         0              270            0
  37  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  38  Toilet             -2.150         0.002          -0.412         0              90             0
  39  Faucet             0.284          0.504          -0.489         0              0              0
  40  ShowerHead         0.232          1.906          1.834          0              0              0
  41  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  42  Faucet             -1.127         0.993          -0.837         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the tub. | STEP 2: Pick up the bar of soap in the tub. | STEP 3: Take a step to the left and look down to face the left end of the tub. | STEP 4: Place the bar of soap to the left of where it was originally. | STEP 5: Turn left and walk forward to face the soap on the top shelf. | STEP 6: Pick up the soap on the top shelf. | STEP 7: Turn to the right to face the tub. | STEP 8: Place the bar of soap beside the first bar of soap. | END