Task: put two soap bars in the bath tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.901          2.25           0              0              0
   1  SoapBar            -2.922         0.813          0.467          0              0              0              30
   2  SoapBar            -0.255         0.219          2.593          0              0              0              21
   3  SoapBar            -0.290         0.714          1.933          0              270            0              52
   4  Candle             -0.219         0.812          1.554          0              0              0              33
   5  SoapBottle         -0.201         0.219          2.109          0              0              0              18
   6  SoapBottle         -0.219         0.813          2.610          0              0              0              33
   7  HandTowel          -0.034         1.537          2.309          0              90             0              39
   8  Towel              -1.513         1.496          0.109          0              0              0              34
   9  Cloth              -3.002         0.811          0.155          0              0              0              30
  10  SoapBar            -0.363         0.218          2.155          0              0              0              18
  11  ToiletPaper        -2.686         0.946          3.182          0              0              0              42
  12  Plunger            -2.530         0.000          3.026          0              0              0
  13  Candle             -2.197         0.813          0.092          0              0              0              30
  14  SoapBottle         -2.954         0.954          3.166          0              270            0              42
  15  ToiletPaper        -0.363         0.515          3.030          0              0              0              27
  16  SprayBottle        -2.157         0.814          0.342          0              0              0              30
  17  ScrubBrush         -2.332         0.000          3.163          0              0              0
  18  Drawer             -0.325         0.319          2.155          0              0              0
  19  Mirror             0.0            1.473          1.917          0              270            0
  20  Drawer             -0.325         0.319          1.717          0              0              0
  21  Drawer             -0.325         0.319          2.592          0              0              0
  22  Bathtub            -3.589         0.107          1.521          0              0              0
  23  Drawer             -0.325         0.619          2.592          0              0              0
  24  Drawer             -2.249         0.319          0.280          0              0              0
  25  Drawer             -0.325         0.319          3.030          0              0              0
  26  Mirror             0.0            1.473          2.700          0              270            0
  27  Drawer             -0.325         0.619          3.030          0              0              0
  28  ShowerGlass        -0.494         1.490          0.528          0              0              0
  29  Sink               -2.539         0.661          0.252          0              0              0
  30  CounterTop         -2.540         0.805          0.280          0              0              0
  31  Drawer             -2.844         0.319          0.280          0              0              0
  32  ShowerDoor         -1.074         1.033          0.519          0              0              0
  33  CounterTop         -0.277         0.785          1.931          0              0              0
  34  TowelHolder        -1.513         1.481          0.002          0              0              0
  35  LightSwitch        -0.776         1.371          3.300          0              180            0
  36  GarbageCan         -1.754         0.001          0.227          0              0              0
  37  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  38  HandTowelHolder    0.004          1.639          3.105          0              180            0
  39  HandTowelHolder    0.004          1.639          2.309          0              180            0
  40  HandTowelHolder    0.004          1.639          1.542          0              180            0
  41  Window             -4.127         1.519          1.495          90             270            0
  42  Toilet             -2.842         0.000          2.755          0              180            0
  43  SinkBasin          -2.542         0.706          0.269          0              0              0
  44  BathtubBasin       -3.606         0.182          1.536          0              270            0
  45  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  46  Faucet             -2.540         0.794          0.111          0              0              0
  47  Faucet             -0.111         0.794          1.921          0              270            0
  48  ShowerHead         -3.612         1.776          2.299          0              0              0
  49  ShowerHead         -0.079         1.151          0.662          0              0              0
  50  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  51  Sink               -0.260         0.661          1.922          0              270            0
  52  SinkBasin          -0.277         0.706          1.920          0              270            0
  53  NorthWall
  54  SouthWall
  55  SouthWall

Plan:
STEP 1: go to the counter to the right of the sink | STEP 2: pick up the soap bar from the counter | STEP 3: take the soap to the tub basin | STEP 4: put the soap in the tub | STEP 5: go to the sink | STEP 6: pick up the second soap bar from the sink | STEP 7: take the soap to the tub | STEP 8: lay the soap in the tub next to the first one | END