Task: Place two bars of soap in a box.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          2.5            0              0              0
   1  SoapBar            -1.621         0.641          3.320          0              270            0              32
   2  SprayBottle        -1.798         1.047          0.813          0              90             0              30
   3  HandTowel          -1.961         1.588          1.323          0              270            0              23
   4  Candle             -1.887         0.772          2.877          0              0              0              16
   5  HandTowel          -1.513         1.461          3.962          0              0              0              22
   6  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
   7  Towel              0.871          1.172          2.356          0              0              0              21
   8  SoapBottle         -1.715         0.731          2.927          0              0              0              16
   9  SoapBar            -1.543         0.731          2.726          0              0              0              16
  10  ToiletPaper        -1.566         0.639          0.054          0              0              270            26
  11  Cloth              -1.570         0.243          1.865          0              0              0              18
  12  ToiletPaper        -1.553         0.624          0.053          0              0              270            26
  13  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  14  SprayBottle        -1.715         0.732          2.726          0              0              0              16
  15  Drawer             -1.335         0.301          3.329          0              0              0
  16  CounterTop         -1.608         0.701          2.831          0              0              0
  17  ShowerDoor         0.564          1.018          1.115          0              0              0
  18  Drawer             -1.335         0.301          2.132          0              0              0
  19  Mirror             -1.924         1.414          2.759          0              0              0
  20  Sink               -1.695         0.616          2.283          0              90             0
  21  TowelHolder        0.870          1.157          2.25           0              0              0
  22  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  23  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  24  Window             -1.037         1.399          0.019          90             0              0
  25  Window             -1.986         1.396          0.707          90             90             0
  26  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  27  GarbageCan         -1.739         -0.031         1.268          0              90             0
  28  LightSwitch        1.25           1.273          3.634          0              270            0
  29  SinkBasin          -1.674         0.633          2.274          0              270            0
  30  Toilet             -1.547         0.000          0.685          0              180            0
  31  Sink               -1.695         0.616          3.365          0              90             0
  32  SinkBasin          -1.674         0.633          3.355          0              270            0
  33  ShowerHead         0.853          1.797          1.108          0              180            0
  34  Faucet             -1.926         0.721          2.285          0              90             0
  35  Faucet             -1.926         0.721          3.368          0              90             0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn left and walk straight to the bathroom sinks. | STEP 2: Pick up the soap between both sinks. | STEP 3: Turn around to face the bathroom door, turn right, walk toward the toilet and turn right again to face the toilet. | STEP 4: Place the soap inside the box beside the toilet. | STEP 5: Turn right, walk straight to the wall, turn left to face the bathroom sink. | STEP 6: Pick up the soap inside the the sink. | STEP 7: Turn around to face the bathroom door, turn right, walk straight to the toilet, and turn right to face the toilet. | STEP 8: Place the soap beside the other soap inside the box beside the toilet. | END