Task: Put two bars of soap in a tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.904          0.0            0              90             0
   1  Cloth              -0.690         0.033          0.352          0              0              0              30
   2  SprayBottle        -2.904         0.109          -0.547         0              0              0              22
   3  Candle             -0.048         0.514          0.331          0              0              0              25
   4  SoapBar            -3.285         1.048          1.263          0              90             0              39
   5  SoapBar            -1.032         0.512          0.833          0              0              0              25
   6  SoapBar            -3.038         1.002          -0.365         0              0              0              32
   7  SoapBottle         -3.285         1.050          1.460          0              90             0              39
   8  ToiletPaper        -3.193         1.045          1.132          0              90             0              39
   9  Towel              -1.615         1.398          1.800          0              180            0              34
  10  HandTowel          -3.321         1.464          0.763          0              270            0              36
  11  SoapBar            -2.815         1.002          0.576          0              303.713        0              32
  12  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             38
  13  ToiletPaper        -3.224         1.045          1.263          0              90             0              39
  14  Candle             -0.036         0.514          1.586          0              0              0              25
  15  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  16  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  17  SoapBottle         -3.072         0.051          0.846          0              0              0              33
  18  Cloth              -3.100         0.108          -0.494         0              0              0              22
  19  SprayBottle        -2.962         1.003          0.605          0              0              0              32
  20  Faucet             -0.618         0.667          1.805          0              0              0
  21  Cabinet            -2.761         0.446          0.599          0              0              0
  22  Cabinet            -2.756         0.421          -0.759         0              0              0
  23  Cabinet            -2.905         2.098          1.878          0              0              0
  24  Sink               -3.016         0.865          0.207          0              90             0
  25  Bathtub            -0.603         0.286          0.832          0              0              0
  26  SinkBasin          -3.016         0.874          0.217          0              90             0
  27  Cabinet            -2.756         0.421          -0.272         0              0              0
  28  Faucet             -3.313         0.989          0.207          0              90             0
  29  Cabinet            -2.900         2.053          1.005          0              0              0
  30  BathtubBasin       -0.558         0.023          0.811          0              0              0
  31  Mirror             -3.348         1.476          0.020          0              0              0
  32  CounterTop         -3.049         1.039          -0.442         0              0              0
  33  GarbageCan         -3.080         -0.007         0.899          0              0              0
  34  TowelHolder        -1.615         1.383          1.907          0              180            0
  35  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  36  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  37  LightSwitch        -2.313         1.426          -0.766         0              0              0
  38  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  39  Toilet             -2.931         0.003          1.364          0              180            0
  40  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and face the counter to the left of the sink. | STEP 2: Pick the soap up from the sink. | STEP 3: Cross the room to face the tub. | STEP 4: Put the soap in the tub. | STEP 5: Pick the soap on the side of the tub up. | STEP 6: Put the bar of soap in the tub. | END