Task: Put the two 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              -2.75          0.901          0.75           0              90             0
   1  Cloth              -0.219         0.811          3.000          0              0              0              37
   2  Cloth              -0.309         0.217          3.030          0              0              0              29
   3  SoapBar            -3.017         0.954          3.220          0              270            0              46
   4  SoapBar            -0.147         0.518          3.121          0              0              0              31
   5  SoapBar            -1.840         0.017          0.137          0              0              0              40
   6  Candle             -1.956         0.813          0.342          0              0              0              34
   7  Candle             -3.038         0.195          0.168          0              0              0              28
   8  SoapBottle         -2.922         0.813          0.404          0              0              0              34
   9  SoapBottle         -2.829         0.954          3.220          0              270            0              46
  10  HandTowel          -0.034         1.537          2.309          0              90             0              43
  11  HandTowel          -0.034         1.537          1.542          0              90             0              44
  12  Towel              -1.513         1.496          0.109          0              0              0              38
  13  Cloth              -0.255         0.217          1.762          0              0              0              24
  14  SoapBar            -0.290         0.714          1.892          0              270            0              56
  15  ToiletPaper        -2.286         0.825          3.221          0              180            270            49
  16  Plunger            -2.530         0.000          3.026          0              0              0
  17  Candle             -3.017         0.953          3.139          0              270            0              46
  18  SoapBottle         -0.255         0.519          2.985          0              0              0              31
  19  ToiletPaper        -0.201         0.515          2.683          0              0              0              27
  20  SprayBottle        -2.642         0.955          3.166          0              270            0              46
  21  ScrubBrush         -2.332         0.000          3.163          0              0              0
  22  Drawer             -0.325         0.319          2.155          0              0              0
  23  Mirror             0.0            1.473          1.917          0              270            0
  24  Drawer             -0.325         0.319          1.717          0              0              0
  25  Drawer             -0.325         0.319          2.592          0              0              0
  26  Bathtub            -3.589         0.107          1.521          0              0              0
  27  Drawer             -0.325         0.619          2.592          0              0              0
  28  Drawer             -2.249         0.319          0.280          0              0              0
  29  Drawer             -0.325         0.319          3.030          0              0              0
  30  Mirror             0.0            1.473          2.700          0              270            0
  31  Drawer             -0.325         0.619          3.030          0              0              0
  32  ShowerGlass        -0.494         1.490          0.528          0              0              0
  33  Sink               -2.539         0.661          0.252          0              0              0
  34  CounterTop         -2.540         0.805          0.280          0              0              0
  35  Drawer             -2.844         0.319          0.280          0              0              0
  36  ShowerDoor         -1.074         1.033          0.519          0              0              0
  37  CounterTop         -0.277         0.785          1.931          0              0              0
  38  TowelHolder        -1.513         1.481          0.002          0              0              0
  39  LightSwitch        -0.776         1.371          3.300          0              180            0
  40  GarbageCan         -1.754         0.001          0.227          0              0              0
  41  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  42  HandTowelHolder    0.004          1.639          3.105          0              180            0
  43  HandTowelHolder    0.004          1.639          2.309          0              180            0
  44  HandTowelHolder    0.004          1.639          1.542          0              180            0
  45  Window             -4.127         1.519          1.495          90             270            0
  46  Toilet             -2.842         0.000          2.755          0              180            0
  47  SinkBasin          -2.542         0.706          0.269          0              0              0
  48  BathtubBasin       -3.606         0.182          1.536          0              270            0
  49  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  50  Faucet             -2.540         0.794          0.111          0              0              0
  51  Faucet             -0.111         0.794          1.921          0              270            0
  52  ShowerHead         -3.612         1.776          2.299          0              0              0
  53  ShowerHead         -0.079         1.151          0.662          0              0              0
  54  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  55  Sink               -0.260         0.661          1.922          0              270            0
  56  SinkBasin          -0.277         0.706          1.920          0              270            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: Turn right and face the trash bin  | STEP 2: Pick up the soap in the trash bine | STEP 3: Turn left then head to the tub | STEP 4: Put the soap in the tub  | STEP 5: Walk toward the toilet tank | STEP 6: Pick up the soap on the tank | STEP 7: Turn right then head to the tub | STEP 8: Put the soap in the tub beside the other soap | END