Task: Move two soap dispensers from the trash can to the shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.903          1.25           0              0              0
   1  Cloth              0.124          0.048          1.295          0              0              0              30
   2  Cloth              0.289          0.048          1.067          0              0              0              30
   3  Candle             0.017          0.650          1.762          0              0              0              23
   4  SprayBottle        -1.308         1.774          2.187          0              0              0              29
   5  SprayBottle        -1.471         1.774          2.067          0              0              0              29
   6  SoapBottle         -1.687         0.083          -0.655         0              270            0              34
   7  SoapBottle         -1.707         0.083          -0.549         0              270            0              34
   8  SoapBottle         -2.277         1.049          -0.674         0              0              0              36
   9  HandTowel          -0.541         1.502          -0.846         0              180            0              33
  10  Candle             -2.146         1.088          -0.827         0              0              0              36
  11  HandTowel          -1.743         1.502          -0.846         0              180            0              32
  12  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  13  SoapBar            -0.334         0.609          -0.259         0              0              0              23
  14  ToiletPaper        -1.785         0.805          -0.769         0              0              270            26
  15  SoapBottle         -2.146         1.049          -0.736         0              0              0              36
  16  TissueBox          -1.144         1.773          2.157          0              0              0              29
  17  Cloth              0.206          0.048          0.611          0              0              0              30
  18  ToiletPaper        -1.660         0.809          -0.769         0              0              90             26
  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        -0.653         1.774          2.127          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: Turn and go to the trash can by the toilet.  | STEP 2: Take a soap dispenser out of the trash can. | STEP 3: Turn and go to the shelf by the bathtub. | STEP 4: Put the soap dispenser on the shelf. | STEP 5: Turn and go to the trash can by the toilet.  | STEP 6: Take a soap dispenser out of the trash can. | STEP 7: Turn and go to the shelf by the bathtub. | STEP 8: Put the soap dispenser on the shelf. | END