Task: Put soap bottles on the middle shelf next to Kleenex.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.903          1.5            0              180            0
   1  SoapBar            -1.308         1.069          2.217          0              0              0              29
   2  SprayBottle        -2.212         1.048          -0.674         0              0              0              34
   3  SprayBottle        -1.144         0.289          2.097          0              0              0              25
   4  SoapBottle         -0.207         0.611          1.655          0              45             0              21
   5  SoapBottle         -1.666         0.083          -0.620         0              270            0              32
   6  SoapBottle         -2.015         1.049          -0.797         0              0              0              34
   7  HandTowel          -0.541         1.502          -0.846         0              180            0              31
   8  Candle             -1.308         0.330          2.157          0              0              0              25
   9  HandTowel          -1.743         1.502          -0.846         0              180            0              30
  10  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  11  SoapBar            0.371          0.043          0.611          0              0              0              28
  12  ToiletPaper        -1.785         0.805          -0.769         0              0              270            24
  13  SoapBottle         -2.212         1.049          -0.797         0              0              0              34
  14  TissueBox          -0.980         1.070          2.127          0              0              0              29
  15  Cloth              0.289          0.048          -0.071         0              0              0              28
  16  ToiletPaper        -2.343         1.043          -0.797         0              0              0              34
  17  Towel              0.266          1.550          -0.452         0              0              0              23
  18  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  19  SprayBottle        -2.015         1.048          -0.674         0              0              0              34
  20  Mirror             -1.105         1.754          -0.884         0              0              0
  21  Bathtub            0.221          0.343          0.636          0              0              0
  22  Sink               -1.128         -0.001         -0.593         0              0              0
  23  TowelHolder        0.266          1.536          -0.559         0              0              0
  24  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  25  Shelf              -1.167         0.278          2.157          0              0              0
  26  SinkBasin          -1.133         0.836          -0.580         0              0              0
  27  Shelf              -1.167         1.763          2.157          0              0              0
  28  BathtubBasin       0.277          0.033          0.611          0              0              0
  29  Shelf              -1.167         1.059          2.157          0              0              0
  30  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  31  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  32  GarbageCan         -2.715         0.004          -0.513         0              270            0
  33  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  34  Toilet             -2.150         0.002          -0.412         0              90             0
  35  Faucet             0.284          0.504          -0.489         0              0              0
  36  ShowerHead         0.232          1.906          1.834          0              0              0
  37  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  38  Faucet             -1.127         0.993          -0.837         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move around to the shelves and face the bathtub. | STEP 2: Pick up the bottle of soap of the left side of the bathtub. | STEP 3: Turn around to the shelves. | STEP 4: Place the bottle of soap on the middle shelf on the left side of the Kleenex. | STEP 5: Turn around and head to the trashcan on the left of the toilet. | STEP 6: Pick up the bottle out of the trashcan. | STEP 7: Turn around and go back to the shelves. | STEP 8: Place the bottle the bottle next to the other bottle on the middle shelf. | END