Task: Putting two bars of soap in a tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.75           0.900          -3.5           0              90             0
   1  Cloth              -1.751         0.042          -3.542         0              270            0              32
   2  Cloth              -1.640         0.042          -2.682         0              270            0              32
   3  Candle             0.726          0.817          -0.421         0              90             0              35
   4  Candle             0.767          0.817          -1.773         0              90             0              36
   5  SoapBar            0.116          0.952          -3.901         0              90             0              30
   6  SprayBottle        0.782          0.815          -0.926         0              90             0              35
   7  SprayBottle        0.880          0.815          -1.874         0              90             0              36
   8  SoapBottle         -1.555         0.821          -0.165         0              0              0              34
   9  SoapBottle         0.782          0.821          -0.623         0              90             0              35
  10  SoapBottle         -0.008         0.955          -3.901         0              90             0              30
  11  Cloth              -1.640         0.042          -3.255         0              270            0              32
  12  Candle             -0.195         0.952          -3.927         0              90             0              30
  13  HandTowel          -2.166         1.500          -0.037         0              0              0              27
  14  Towel              -1.525         1.685          -0.105         0              180            0              25
  15  SoapBar            0.116          0.952          -3.820         0              90             0              30
  16  ToiletPaper        0.852          0.815          -2.076         0              90             0              36
  17  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  18  SprayBottle        0.767          0.815          -1.975         0              90             0              36
  19  TissueBox          0.832          0.809          -0.358         0              266.215        0              35
  20  ToiletPaper        -0.133         0.949          -3.820         0              90             0              30
  21  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  22  Sink               -2.171         0.294          -0.660         0              90             0
  23  Bathtub            -2.122         -0.088         -3.116         0              0              0
  24  Mirror             -2.503         1.423          -0.703         0              0              0
  25  TowelHolder        -1.524         1.671          0.001          0              180            0
  26  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  27  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  28  LightSwitch        0.321          1.327          0.000          0              180            0
  29  Window             -0.540         1.625          -3.996         90             0              0
  30  Toilet             0.004          -0.000         -3.436         0              0              0
  31  SinkBasin          -2.176         0.824          -0.659         0              0              0
  32  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  33  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  34  SideTable          -1.526         0.001          -0.172         0              0              0
  35  SideTable          0.780          0.001          -0.667         0              90             0
  36  SideTable          0.793          0.001          -1.817         0              90             0
  37  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  38  Faucet             -2.431         0.982          -0.660         0              90             0
  39  Faucet             -1.909         0.666          -3.855         0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn right and stop at the left of the toilet | STEP 2: Grab a bar of soap off of the top of the toilet | STEP 3: Turn around and go to the tub | STEP 4: Put the soap in the tub | STEP 5: Turn around and go to the left of the toilet | STEP 6: Grab the bar of soap off the top of the toilet | STEP 7: Turn right and go to the tub | STEP 8: Put the soap in the tub | END