Task: Move two bars of soap to 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              -2.0           0.903          1.0            0              270            0
   1  SoapBar            -1.144         1.772          2.127          0              0              0              25
   2  Candle             -1.949         1.088          -0.644         0              0              0              32
   3  Candle             -2.343         1.088          -0.705         0              0              0              32
   4  SoapBottle         -1.144         1.775          2.217          0              0              0              25
   5  SoapBottle         -1.687         0.083          -0.655         0              270            0              30
   6  Candle             -0.227         0.650          1.635          0              45             0              19
   7  HandTowel          -0.541         1.502          -0.846         0              180            0              29
   8  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
   9  SoapBar            -2.080         1.046          -0.736         0              0              0              32
  10  ToiletPaper        -1.785         0.805          -0.769         0              0              270            22
  11  SoapBottle         -0.980         1.775          2.217          0              0              0              25
  12  TissueBox          -1.144         0.289          2.097          0              0              0              23
  13  Cloth              -1.635         0.293          2.157          0              0              0              23
  14  ToiletPaper        -1.660         0.809          -0.769         0              0              90             22
  15  Towel              0.266          1.550          -0.452         0              0              0              21
  16  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  17  SprayBottle        -2.277         1.048          -0.674         0              0              0              32
  18  Mirror             -1.105         1.754          -0.884         0              0              0
  19  Bathtub            0.221          0.343          0.636          0              0              0
  20  Sink               -1.128         -0.001         -0.593         0              0              0
  21  TowelHolder        0.266          1.536          -0.559         0              0              0
  22  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  23  Shelf              -1.167         0.278          2.157          0              0              0
  24  SinkBasin          -1.133         0.836          -0.580         0              0              0
  25  Shelf              -1.167         1.763          2.157          0              0              0
  26  BathtubBasin       0.277          0.033          0.611          0              0              0
  27  Shelf              -1.167         1.059          2.157          0              0              0
  28  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  29  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  30  GarbageCan         -2.715         0.004          -0.513         0              270            0
  31  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  32  Toilet             -2.150         0.002          -0.412         0              90             0
  33  Faucet             0.284          0.504          -0.489         0              0              0
  34  ShowerHead         0.232          1.906          1.834          0              0              0
  35  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  36  Faucet             -1.127         0.993          -0.837         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the left and face the toilet on the left side. | STEP 2: Pick up the soap from the tank of the toilet. | STEP 3: Carry the soap and turn left, then right and go to the bath tub. | STEP 4: Place the soap inside the bath tub. | STEP 5: Turn around and then right to the shelf on the wall. Look up to the high shelf. | STEP 6: Pick up the bar of soap from the high shelf. | STEP 7: Carry the soap and turn around, and face the bath tub on the left. | STEP 8: Place the soap inside the bath tub. | END