Task: Move two bars of 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              -2.0           0.900          1.5            0              0              0
   1  TissueBox          -0.872         1.134          0.169          0              0              0              32
   2  TissueBox          -0.812         1.134          0.347          0              0              0              32
   3  SoapBar            -0.693         1.134          0.228          0              0              0              32
   4  SoapBar            -0.991         1.134          0.228          0              0              0              32
   5  SprayBottle        -0.304         0.028          0.270          0              90             0              43
   6  SprayBottle        -0.229         0.027          0.270          0              0              0              43
   7  ToiletPaper        -0.318         0.950          2.749          0              270            0              40
   8  HandTowel          -1.296         1.765          0.040          0              180            0              38
   9  SoapBar            -2.326         0.812          0.228          0              0              0              26
  10  ToiletPaper        -2.227         1.580          2.240          0              0              0              30
  11  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  12  Candle             -0.813         0.860          0.374          0              270            0              21
  13  TissueBox          -1.825         0.125          0.364          0              0              0              20
  14  ToiletPaper        -2.227         1.580          2.144          0              0              0              30
  15  SoapBottle         -1.542         0.815          0.288          0              0              0              26
  16  SprayBottle        -2.165         0.109          2.100          0              0              0              22
  17  Towel              -2.760         1.569          0.107          0              0              0              35
  18  Cloth              -3.574         0.219          0.777          0              0              0              41
  19  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  20  Cabinet            -2.344         0.457          0.524          0              0              0
  21  Drawer             -0.813         0.956          0.384          0              270            0
  22  Cabinet            -1.891         0.443          1.982          0              0              0
  23  Cabinet            -0.605         0.457          0.524          0              0              0
  24  Drawer             -2.032         0.942          2.190          0              0              0
  25  Bathtub            -3.450         0.178          1.029          0              0              0
  26  CounterTop         -1.919         0.0            0.288          0              0              0
  27  Sink               -1.924         0.772          0.326          0              0              0
  28  Mirror             -1.934         1.666          0.107          0              0              0
  29  Faucet             -1.925         0.958          0.179          0              0              0
  30  Cabinet            -1.891         1.884          2.391          0              0              0
  31  Cabinet            -0.605         1.988          0.524          0              0              0
  32  CounterTop         -0.812         0.093          0.288          0              0              0
  33  Shelf              -2.029         1.183          2.189          0              0              0
  34  Shelf              -2.123         1.393          2.189          0              0              0
  35  TowelHolder        -2.760         1.555          0.000          0              0              0
  36  LightSwitch        0.0            1.427          1.993          0              270            0
  37  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  38  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  39  Window             -4.149         1.717          1.154          90             270            0
  40  Toilet             -0.456         -0.000         2.257          0              180            0
  41  BathtubBasin       -3.520         0.210          0.940          0              0              0
  42  SinkBasin          -1.931         0.841          0.320          0              0              0
  43  GarbageCan         -0.257         -0.000         0.259          0              0              0
  44  ShowerHead         -3.522         1.719          1.776          0              0              0
  45  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn left and take a step forward, then turn left and walk up to the sink. | STEP 2: Pick up the bar of soap off of the counter to the right of the sink. | STEP 3: Turn around and walk forward, then turn left and walk up to the tub. | STEP 4: Put the bar of soap into the tub. | STEP 5: Turn around and walk towards the door, then turn right to face the cabinet. | STEP 6: Pick up the bar of soap off of the cabinet. | STEP 7: Turn around and walk forward, then turn left and walk up to the tub. | STEP 8: Put the bar of soap into the tub. | END