Task: pick up both bars of soap and put 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              -1.25          0.900          2.25           0              0              0
   1  Cloth              -2.121         0.108          2.191          0              0              0              24
   2  TissueBox          -0.858         0.119          0.311          0              0              0              25
   3  SoapBar            -0.178         0.027          0.179          0              0              0              45
   4  SoapBar            -3.053         0.689          0.578          0              0              0              27
   5  Candle             -1.993         1.104          2.189          0              0              0              35
   6  Candle             -0.693         1.134          0.288          0              0              0              34
   7  SprayBottle        -1.634         0.125          0.414          0              0              0              22
   8  SoapBottle         -0.203         0.030          0.270          0              0              0              45
   9  SoapBottle         -0.256         0.956          2.696          0              270            0              42
  10  HandTowel          -1.296         1.765          0.040          0              180            0              40
  11  SoapBar            -0.812         1.653          0.212          0              0              0              33
  12  ToiletPaper        -0.812         1.131          0.347          0              0              0              34
  13  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  14  Candle             -2.326         0.812          0.468          0              0              0              28
  15  TissueBox          -0.753         1.134          0.466          0              0              0              34
  16  ToiletPaper        -3.084         0.686          0.126          0              0              0              27
  17  SoapBottle         -2.085         1.586          2.192          0              0              0              32
  18  SprayBottle        -0.722         0.119          0.360          0              0              0              25
  19  Towel              -2.760         1.569          0.107          0              0              0              37
  20  Cloth              -3.449         0.219          1.432          0              0              0              43
  21  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  22  Cabinet            -2.344         0.457          0.524          0              0              0
  23  Drawer             -0.813         0.956          0.384          0              270            0
  24  Cabinet            -1.891         0.443          1.982          0              0              0
  25  Cabinet            -0.605         0.457          0.524          0              0              0
  26  Drawer             -2.032         0.942          2.190          0              0              0
  27  Bathtub            -3.450         0.178          1.029          0              0              0
  28  CounterTop         -1.919         0.0            0.288          0              0              0
  29  Sink               -1.924         0.772          0.326          0              0              0
  30  Mirror             -1.934         1.666          0.107          0              0              0
  31  Faucet             -1.925         0.958          0.179          0              0              0
  32  Cabinet            -1.891         1.884          2.391          0              0              0
  33  Cabinet            -0.605         1.988          0.524          0              0              0
  34  CounterTop         -0.812         0.093          0.288          0              0              0
  35  Shelf              -2.029         1.183          2.189          0              0              0
  36  Shelf              -2.123         1.393          2.189          0              0              0
  37  TowelHolder        -2.760         1.555          0.000          0              0              0
  38  LightSwitch        0.0            1.427          1.993          0              270            0
  39  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  40  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  41  Window             -4.149         1.717          1.154          90             270            0
  42  Toilet             -0.456         -0.000         2.257          0              180            0
  43  BathtubBasin       -3.520         0.210          0.940          0              0              0
  44  SinkBasin          -1.931         0.841          0.320          0              0              0
  45  GarbageCan         -0.257         -0.000         0.259          0              0              0
  46  ShowerHead         -3.522         1.719          1.776          0              0              0
  47  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  48  NorthWall
  49  SouthWall
  50  SouthWall

Plan:
STEP 1: turn around and cross the room to the bath tub | STEP 2:  pick up the soap on the edge of the tub | STEP 3: turn around to the bath tub | STEP 4: place the soap in the tub | STEP 5: turn around and cross the room to the trash can | STEP 6: take the soap out of the trash can | STEP 7: cross the room back to the bath tub | STEP 8: place the soap in the tub  | END