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              -1.75          0.902          -1.0           0              270            0
   1  Cloth              0.211          0.034          -0.768         0              270            0              34
   2  Cloth              -2.992         0.081          0.696          0              90             0              21
   3  Candle             -2.451         0.122          0.631          0              0              0              23
   4  SoapBar            -0.158         0.517          0.434          0              0              0              24
   5  SprayBottle        -2.710         0.961          0.922          0              0              0              22
   6  SprayBottle        -2.991         0.184          -1.56          0              180            0              33
   7  SoapBottle         -2.586         0.083          0.502          0              0              0              23
   8  SoapBottle         -2.924         0.184          -1.584         0              0              0              33
   9  ToiletPaper        -0.860         1.042          0.875          0              180            0              38
  10  Towel              -0.490         1.367          0.902          0              180            0              32
  11  Candle             -1.540         1.002          0.559          0              0              0              22
  12  HandTowel          -3.096         1.587          0.744          0              270            0              36
  13  SoapBar            -0.991         1.045          0.906          0              180            0              38
  14  ToiletPaper        -1.416         0.816          0.665          0              90             270            37
  15  Cloth              0.349          0.034          0.561          0              270            0              34
  16  ToiletPaper        -2.858         0.078          0.825          0              0              0              21
  17  SprayBottle        -1.598         0.082          0.502          0              0              0              25
  18  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  19  SoapBottle         -1.687         0.083          0.567          0              0              0              25
  20  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  21  Cabinet            -3.094         0.390          0.421          0              0              0
  22  CounterTop         -2.298         0.953          0.689          0              0              0
  23  Cabinet            -2.305         0.415          0.425          0              0              0
  24  Bathtub            0.286          0.290          -0.077         0              0              0
  25  Cabinet            -1.496         0.415          0.425          0              0              0
  26  Cabinet            -2.286         0.390          0.421          0              0              0
  27  Sink               -1.924         0.930          0.675          0              180            0
  28  Faucet             -1.922         1.015          0.887          0              0              0
  29  Mirror             -2.306         1.526          1.001          0              0              0
  30  Faucet             -2.681         1.015          0.887          0              0              0
  31  LightSwitch        -1.389         1.263          -1.693         0              0              0
  32  TowelHolder        -0.490         1.353          1.009          0              180            0
  33  GarbageCan         -2.857         0.016          -1.487         0              0              0
  34  BathtubBasin       0.349          0.023          -0.135         0              270            0
  35  SinkBasin          -1.908         0.961          0.669          0              180            0
  36  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  37  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  38  Toilet             -1.054         0.001          0.552          0              270            0
  39  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  40  Faucet             0.270          0.670          0.906          0              0              0
  41  SinkBasin          -2.666         0.961          0.669          0              180            0
  42  Sink               -2.681         0.930          0.675          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn to the right and cross to stand to the right of the toilet facing the towel. | STEP 2: Pick the soap up from the back of the toilet. | STEP 3: Turn around to face the tub. | STEP 4: Put the soap into the tub. | STEP 5: Move to the left and turn to face the tub. | STEP 6: Pick the soap up from the ledge of the tub. | STEP 7: Move over to the right side of the tub. | STEP 8: Put the soap in the tub. | END