Task: put two bars of soap into the bathtub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.900          -0.25          0              90             0
   1  SoapBar            -0.744         0.016          -1.588         0              0              0              19
   2  SoapBar            -0.979         0.016          -1.486         0              0              0              19
   3  SoapBar            -1.340         0.933          -1.497         347.851        0              0              37
   4  Candle             -0.196         0.015          -1.638         0              0              0              25
   5  SoapBottle         -1.994         1.046          0.140          0              90             0              40
   6  SoapBottle         -1.994         1.046          0.272          0              90             0              40
   7  Towel              0.89           1.368          -1.755         0              0              0              32
   8  HandTowel          -2.028         1.492          -1.482         0              270            0              38
   9  SoapBar            0.544          0.591          -1.772         0              0              0              27
  10  ToiletPaper        -1.725         0.013          -1.639         0              0              0              28
  11  ToiletPaper        -1.134         0.905          -1.554         0              0              0              22
  12  Cloth              1.062          0.171          -0.962         0              270            0              36
  13  SprayBottle        -1.784         0.017          -1.537         0              180            0              28
  14  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  15  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  16  Candle             -2.009         0.907          -1.622         0              0              0              22
  17  SoapBottle         -1.235         0.019          -1.587         0              0              0              18
  18  Cabinet            -1.052         0.340          -1.327         0              0              0
  19  Cabinet            -1.039         0.340          -1.327         0              0              0
  20  ShowerGlass        0.919          1.417          -0.206         0              0              0
  21  Sink               -1.560         0.811          -1.598         0              0              0
  22  CounterTop         -1.041         0.884          -1.531         0              0              0
  23  ShowerDoor         0.451          0.926          0.696          0              0              0
  24  Faucet             -0.505         0.898          -1.779         0              0              0
  25  Cabinet            -0.071         0.340          -1.327         0              0              0
  26  Mirror             -1.014         1.501          -1.840         0              0              0
  27  Bathtub            0.883          0.392          -1.154         0              0              0
  28  Cabinet            -2.020         0.340          -1.327         0              0              0
  29  Sink               -0.526         0.811          -1.598         0              0              0
  30  Window             1.532          1.672          -1.037         0              0              0
  31  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  32  TowelHolder        0.889          1.353          -1.861         0              0              0
  33  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  34  LightSwitch        0.224          1.333          0.762          0              180            0
  35  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  36  BathtubBasin       0.938          0.160          -1.126         0              270            0
  37  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  38  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  39  GarbageCan         0.122          -0.002         -1.558         0              270            0
  40  Toilet             -1.610         -0.000         0.209          0              180            0
  41  Faucet             -1.537         0.898          -1.779         0              0              0
  42  Faucet             0.929          0.509          -1.978         0              0              0
  43  Faucet             0.890          1.689          0.724          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: walk straight towards the tub and turn right then walk straight towards the garbage can and look down | STEP 2: pick up the soap bar on the edge of the bathtub | STEP 3: turn around then walk straight then turn right towards the tub | STEP 4: put the soap bar down inside the tub | STEP 5: turn around and walk straight then turn left towards the sink and look down | STEP 6: open the cabinet door and pick up the bar of soap on the left and close the door | STEP 7: turn left then turn left again then turn right and walk straight towards the tub | STEP 8: put the soap bar down inside the tub to the left of the other bar of soap | END