Task: To move two bars of soap to 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              -2.75          0.903          1.25           0              90             0
   1  TissueBox          -1.471         1.070          2.157          0              0              0              29
   2  TissueBox          -0.817         0.289          2.127          0              0              0              25
   3  Cloth              0.453          0.048          -0.071         0              0              0              28
   4  Cloth              -1.144         1.074          2.127          0              0              0              29
   5  SoapBar            -2.146         1.046          -0.736         0              0              0              34
   6  SoapBar            -2.343         1.046          -0.797         0              0              0              34
   7  SprayBottle        -2.277         1.048          -0.736         0              0              0              34
   8  Candle             -2.277         1.088          -0.827         0              0              0              34
   9  HandTowel          -0.541         1.502          -0.846         0              180            0              31
  10  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  11  SoapBar            -2.015         1.046          -0.674         0              0              0              34
  12  ToiletPaper        -1.308         1.066          2.187          0              0              0              29
  13  SoapBottle         -1.635         0.291          2.217          0              0              0              25
  14  TissueBox          -0.653         1.773          2.127          0              0              0              27
  15  Cloth              0.206          0.048          0.839          0              0              0              28
  16  ToiletPaper        -1.660         0.809          -0.769         0              0              90             24
  17  Towel              0.266          1.550          -0.452         0              0              0              23
  18  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  19  SprayBottle        -0.980         1.774          2.127          0              0              0              27
  20  Mirror             -1.105         1.754          -0.884         0              0              0
  21  Bathtub            0.221          0.343          0.636          0              0              0
  22  Sink               -1.128         -0.001         -0.593         0              0              0
  23  TowelHolder        0.266          1.536          -0.559         0              0              0
  24  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  25  Shelf              -1.167         0.278          2.157          0              0              0
  26  SinkBasin          -1.133         0.836          -0.580         0              0              0
  27  Shelf              -1.167         1.763          2.157          0              0              0
  28  BathtubBasin       0.277          0.033          0.611          0              0              0
  29  Shelf              -1.167         1.059          2.157          0              0              0
  30  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  31  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  32  GarbageCan         -2.715         0.004          -0.513         0              270            0
  33  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  34  Toilet             -2.150         0.002          -0.412         0              90             0
  35  Faucet             0.284          0.504          -0.489         0              0              0
  36  ShowerHead         0.232          1.906          1.834          0              0              0
  37  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  38  Faucet             -1.127         0.993          -0.837         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn right and face the back of the toilet.  | STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you.  | STEP 3: Walk to the tub across the room.  | STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left.  | STEP 5: Walk back over to the toilet and face the back of the toilet.  | STEP 6: Pick up the bar of soap in the upper left corner.  | STEP 7: Walk back over to the tub.  | STEP 8: Place the bar of soap to the right of the first bar of soap.  | END