Task: Put two bars of soap in the bathtub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.900          -3.25          0              90             0
   1  Cloth              -1.751         0.042          -2.682         0              270            0              27
   2  Candle             0.726          0.817          -0.421         0              90             0              30
   3  SoapBar            0.054          0.952          -3.874         0              90             0              25
   4  SoapBottle         0.811          0.821          -0.623         0              90             0              30
   5  SoapBottle         -0.070         0.955          -3.874         0              90             0              25
   6  Cloth              -1.974         0.042          -2.968         0              270            0              27
   7  Candle             0.880          0.817          -1.975         0              90             0              31
   8  HandTowel          -2.166         1.500          -0.037         0              0              0              22
   9  Towel              -1.525         1.685          -0.105         0              180            0              20
  10  SoapBar            -1.454         0.818          -0.165         0              0              0              29
  11  ToiletPaper        -0.556         0.082          -3.778         0              0              0              21
  12  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  13  SprayBottle        -1.353         0.815          -0.137         0              0              0              29
  14  TissueBox          0.839          0.818          -0.825         0              90             0              30
  15  ToiletPaper        0.405          0.729          -3.885         0              0              270            28
  16  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  17  Sink               -2.171         0.294          -0.660         0              90             0
  18  Bathtub            -2.122         -0.088         -3.116         0              0              0
  19  Mirror             -2.503         1.423          -0.703         0              0              0
  20  TowelHolder        -1.524         1.671          0.001          0              180            0
  21  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  22  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  23  LightSwitch        0.321          1.327          0.000          0              180            0
  24  Window             -0.540         1.625          -3.996         90             0              0
  25  Toilet             0.004          -0.000         -3.436         0              0              0
  26  SinkBasin          -2.176         0.824          -0.659         0              0              0
  27  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  28  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  29  SideTable          -1.526         0.001          -0.172         0              0              0
  30  SideTable          0.780          0.001          -0.667         0              90             0
  31  SideTable          0.793          0.001          -1.817         0              90             0
  32  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  33  Faucet             -2.431         0.982          -0.660         0              90             0
  34  Faucet             -1.909         0.666          -3.855         0              180            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn to your left and go around to the other side of the toilet, facing the toilet paper holder hanging from the wall.  | STEP 2: Pick up the bar of soap on the back of the toilet.  | STEP 3: Turn to your right and go to the bathtub across from you.  | STEP 4: Place the bar of soap in the bathtub, to the right of the two green rags.  | STEP 5: Turn to your right and go to the shelf underneath the towel that is hanging.  | STEP 6: Pick up the bar of soap to the left of the yellow spray bottle.  | STEP 7: Turn around and go back to the bathtub on your right.  | STEP 8: Place the bar of soap in the bathtub, to the right of the other bar of soap.  | END