Task: To move two bars of soap to 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          0.904          0.5            0              270            0
   1  SprayBottle        -3.035         0.109          -0.654         0              0              0              19
   2  SprayBottle        -3.193         1.049          1.263          0              90             0              36
   3  SoapBar            -3.113         1.002          -0.444         0              0              0              29
   4  SoapBar            -3.100         0.109          -0.022         0              0              0              24
   5  HandTowel          -2.96          1.593          -0.728         0              180            0              32
   6  Towel              -1.615         1.398          1.800          0              180            0              31
   7  HandTowel          -3.321         1.464          0.763          0              270            0              33
   8  SoapBar            -3.04          0.049          0.846          0              0              0              30
   9  ToiletPaper        -3.246         1.039          1.143          0              0              0              36
  10  ToiletPaper        -1.066         0.509          1.084          0              0              0              22
  11  Candle             -0.944         0.514          1.757          0              154.085        0              22
  12  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  13  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  14  SoapBottle         -3.096         1.871          1.624          0              0              0              20
  15  Cloth              -0.690         0.033          1.040          0              0              0              27
  16  SprayBottle        -3.285         1.049          1.329          0              90             0              36
  17  Faucet             -0.618         0.667          1.805          0              0              0
  18  Cabinet            -2.761         0.446          0.599          0              0              0
  19  Cabinet            -2.756         0.421          -0.759         0              0              0
  20  Cabinet            -2.905         2.098          1.878          0              0              0
  21  Sink               -3.016         0.865          0.207          0              90             0
  22  Bathtub            -0.603         0.286          0.832          0              0              0
  23  SinkBasin          -3.016         0.874          0.217          0              90             0
  24  Cabinet            -2.756         0.421          -0.272         0              0              0
  25  Faucet             -3.313         0.989          0.207          0              90             0
  26  Cabinet            -2.900         2.053          1.005          0              0              0
  27  BathtubBasin       -0.558         0.023          0.811          0              0              0
  28  Mirror             -3.348         1.476          0.020          0              0              0
  29  CounterTop         -3.049         1.039          -0.442         0              0              0
  30  GarbageCan         -3.080         -0.007         0.899          0              0              0
  31  TowelHolder        -1.615         1.383          1.907          0              180            0
  32  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  33  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  34  LightSwitch        -2.313         1.426          -0.766         0              0              0
  35  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  36  Toilet             -2.931         0.003          1.364          0              180            0
  37  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Walk to the blue bin to the right of the counter.  | STEP 2: Pick up the bar of soap from the blue bin.  | STEP 3: Turn around and walk to the tub.  | STEP 4: Put the bar of soap to the right of the rag.  | STEP 5: Move to the counter to the left of the sink.  | STEP 6: Pick up the bar of soap to the left of the sink.  | STEP 7: Walk back over to the tub.  | STEP 8: Place the second bar of soap to the right of the first bar of soap.  | END