Task: Place a rinsed bar of soap on a shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.903          1.75           0              90             0
   1  TissueBox          -0.653         1.070          2.157          0              0              0              31
   2  TissueBox          -1.635         1.773          2.097          0              0              0              29
   3  SoapBar            -0.166         0.609          1.696          0              45             0              23
   4  SoapBar            0.536          0.043          0.839          0              0              0              30
   5  SoapBar            -2.343         1.046          -0.736         0              0              0              36
   6  Candle             -0.250         0.650          1.658          0              45             0              23
   7  SprayBottle        -0.653         0.289          2.187          0              0              0              27
   8  SoapBottle         -1.666         0.083          -0.690         0              270            0              34
   9  ToiletPaper        -1.660         0.809          -0.769         0              0              90             26
  10  Candle             -1.308         0.330          2.187          0              0              0              27
  11  HandTowel          -0.541         1.502          -0.846         0              180            0              33
  12  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  13  SoapBar            -2.080         1.046          -0.736         0              0              0              36
  14  ToiletPaper        -1.308         1.066          2.097          0              0              0              31
  15  SoapBottle         -1.666         0.083          -0.549         0              270            0              24
  16  TissueBox          -1.144         1.070          2.097          0              0              0              31
  17  Cloth              0.371          0.048          0.839          0              0              0              30
  18  ToiletPaper        -1.144         0.285          2.097          0              0              0              27
  19  Towel              0.266          1.550          -0.452         0              0              0              25
  20  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  21  SprayBottle        -1.471         1.774          2.217          0              0              0              29
  22  Mirror             -1.105         1.754          -0.884         0              0              0
  23  Bathtub            0.221          0.343          0.636          0              0              0
  24  Sink               -1.128         -0.001         -0.593         0              0              0
  25  TowelHolder        0.266          1.536          -0.559         0              0              0
  26  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  27  Shelf              -1.167         0.278          2.157          0              0              0
  28  SinkBasin          -1.133         0.836          -0.580         0              0              0
  29  Shelf              -1.167         1.763          2.157          0              0              0
  30  BathtubBasin       0.277          0.033          0.611          0              0              0
  31  Shelf              -1.167         1.059          2.157          0              0              0
  32  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  33  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  34  GarbageCan         -2.715         0.004          -0.513         0              270            0
  35  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  36  Toilet             -2.150         0.002          -0.412         0              90             0
  37  Faucet             0.284          0.504          -0.489         0              0              0
  38  ShowerHead         0.232          1.906          1.834          0              0              0
  39  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  40  Faucet             -1.127         0.993          -0.837         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk ahead to the bathtub. | STEP 2: Pick up the soap on the tub lip. | STEP 3: Turn right and walk to the sink. | STEP 4: Rinse the soap in the sink. | STEP 5: Turn around and walk to the shelves. | STEP 6: Place the soap on the bottom shelf to the right of the empty toilet paper roll. | END