Task: Put two bars of soap into 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              0.5            0.900          3.0            0              0              0
   1  SoapBar            -0.587         0.446          0.090          0              0              0              16
   2  Candle             -1.921         1.046          2.009          0              90             0              35
   3  SprayBottle        -0.089         1.160          3.894          0              0              0              46
   4  SoapBottle         -0.457         0.447          0.126          0              0              0              16
   5  Towel              -0.07          1.284          0.106          0              0              0              27
   6  HandTowel          -1.731         1.333          3.961          0              0              0              29
   7  SoapBar            -1.795         0.013          2.246          0              0              0              19
   8  ToiletPaper        -1.743         0.767          3.147          0              0              0              17
   9  ToiletPaper        -1.918         0.763          2.518          0              0              0              17
  10  Cloth              -1.158         0.074          0.470          0              90             0              18
  11  SprayBottle        0.008          1.160          3.732          0              0              0              46
  12  Candle             -0.587         0.447          0.163          0              0              0              16
  13  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  14  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  15  SoapBottle         0.204          1.160          3.732          0              0              0              46
  16  Bathtub            -1.414         -0.002         0.563          0              0              0
  17  CounterTop         -1.799         0.746          3.122          0              0              0
  18  BathtubBasin       -1.613         0.052          0.540          0              0              0
  19  Cabinet            -1.613         0.309          2.493          0              0              0
  20  ShowerDoor         0.527          1.037          2.115          0              0              0
  21  Mirror             -1.993         1.424          3.107          0              0              0
  22  Cabinet            -1.613         0.309          3.754          0              0              0
  23  Faucet             -1.873         0.461          0.641          0              0              0
  24  Sink               -1.834         0.685          2.777          0              90             0
  25  Cabinet            -1.613         0.309          3.105          0              0              0
  26  Cabinet            -1.613         0.309          3.140          0              0              0
  27  TowelHolder        -0.070         1.269          0.0            0              0              0
  28  GarbageCan         0.932          -0.029         3.761          0              0              0
  29  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  30  Window             -1.039         1.393          0.018          90             0              0
  31  Window             -1.986         1.392          0.706          90             90             0
  32  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  33  SinkBasin          -1.795         0.694          2.781          0              90             0
  34  LightSwitch        1.250          1.330          3.621          0              270            0
  35  Toilet             -1.567         -0.000         1.815          0              180            0
  36  Drawer             0.204          0.940          3.807          0              180            0
  37  Dresser            0.204          0.000          3.832          0              180            0
  38  Drawer             0.204          0.160          3.807          0              180            0
  39  Drawer             0.204          0.420          3.807          0              180            0
  40  Drawer             0.204          0.680          3.807          0              180            0
  41  SinkBasin          -1.795         0.694          3.476          0              90             0
  42  Sink               -1.833         0.685          3.472          0              90             0
  43  Faucet             -1.988         0.947          3.472          0              180            0
  44  ShowerHead         0.972          1.222          2.015          0              270            0
  45  Faucet             -1.988         0.947          2.776          0              180            0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around to walk to the bathtub across the room. | STEP 2: Pick up a bar of soap from the bathtub ledge. | STEP 3: Turn towards the bathtub. | STEP 4: Put the bar of soap in the bathtub. | STEP 5: Make a left to walk to the trash can next to the toilet. | STEP 6: Pick up the bar of soap from the trash can, | STEP 7: Turn left to walk to the bathtub. | STEP 8: Place the other bar of soap in the bathtub. | END