Task: Put two bars of 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              -0.75          0.900          1.0            0              180            0
   1  SoapBar            -2.165         0.108          2.237          0              0              0              19
   2  SoapBar            -3.059         0.689          1.708          0              0              0              22
   3  SprayBottle        -0.318         0.954          2.669          0              270            0              37
   4  ToiletPaper        -0.256         0.950          2.749          0              270            0              37
   5  HandTowel          -1.296         1.765          0.040          0              180            0              35
   6  SoapBar            -0.753         1.134          0.407          0              0              0              29
   7  ToiletPaper        -1.542         0.809          0.468          0              0              0              23
   8  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
   9  Candle             -2.042         0.846          2.236          0              0              0              21
  10  TissueBox          -0.931         1.134          0.169          0              0              0              29
  11  ToiletPaper        -2.121         0.105          2.100          0              0              0              19
  12  SoapBottle         -2.162         1.304          2.143          0              0              0              31
  13  SprayBottle        -0.858         0.119          0.360          0              0              0              20
  14  Towel              -2.760         1.569          0.107          0              0              0              32
  15  Cloth              -3.449         0.219          0.449          0              0              0              38
  16  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  17  Cabinet            -2.344         0.457          0.524          0              0              0
  18  Drawer             -0.813         0.956          0.384          0              270            0
  19  Cabinet            -1.891         0.443          1.982          0              0              0
  20  Cabinet            -0.605         0.457          0.524          0              0              0
  21  Drawer             -2.032         0.942          2.190          0              0              0
  22  Bathtub            -3.450         0.178          1.029          0              0              0
  23  CounterTop         -1.919         0.0            0.288          0              0              0
  24  Sink               -1.924         0.772          0.326          0              0              0
  25  Mirror             -1.934         1.666          0.107          0              0              0
  26  Faucet             -1.925         0.958          0.179          0              0              0
  27  Cabinet            -1.891         1.884          2.391          0              0              0
  28  Cabinet            -0.605         1.988          0.524          0              0              0
  29  CounterTop         -0.812         0.093          0.288          0              0              0
  30  Shelf              -2.029         1.183          2.189          0              0              0
  31  Shelf              -2.123         1.393          2.189          0              0              0
  32  TowelHolder        -2.760         1.555          0.000          0              0              0
  33  LightSwitch        0.0            1.427          1.993          0              270            0
  34  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  35  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  36  Window             -4.149         1.717          1.154          90             270            0
  37  Toilet             -0.456         -0.000         2.257          0              180            0
  38  BathtubBasin       -3.520         0.210          0.940          0              0              0
  39  SinkBasin          -1.931         0.841          0.320          0              0              0
  40  GarbageCan         -0.257         -0.000         0.259          0              0              0
  41  ShowerHead         -3.522         1.719          1.776          0              0              0
  42  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: Turn to the right and go to the tub, turn to the right and go forward. | STEP 2: Pick up the bar of soap that is on the edge of the tub. | STEP 3: Turn around and move forward, turn to the right to face the tub. | STEP 4: Put the bar of soap in the tub. | STEP 5: Turn around and cross the room, turn to the right and go to the table that is to the right of the garbage can. | STEP 6: Pick up the bar of soap that is on the table. | STEP 7: Turn around, go forward, hang a left and go to the tub. | STEP 8: Put the bar of soap in the tub. | END