Task: Put two bars 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              -1.0           0.900          -2.5           0              270            0
   1  Cloth              -2.841         0.997          -2.125         0              0              0              26
   2  Cloth              -2.649         0.085          -0.678         0              90             0              32
   3  Candle             -2.694         0.991          -3.720         0              0              0              26
   4  SoapBar            -2.694         0.992          -2.391         0              0              0              26
   5  SoapBottle         -2.512         0.095          -2.296         0              0              0              25
   6  SoapBottle         -0.116         1.166          -3.399         0              90             0              40
   7  HandTowel          -0.038         1.481          -2.661         0              90             0              29
   8  ToiletPaper        -2.512         0.090          -3.340         0              0              0              25
   9  HandTowel          -0.038         1.481          -1.549         0              90             0              30
  10  SoapBar            -2.524         0.080          -1.110         0              90             0              32
  11  ToiletPaper        -2.560         0.090          -3.549         0              0              0              25
  12  ToiletPaper        -2.608         0.354          -3.340         0              0              0              24
  13  Towel              -1.338         1.193          -0.106         0              180            0              27
  14  SoapBottle         -0.221         0.045          -2.772         0              90             0              34
  15  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  16  Cloth              -2.841         0.997          -2.923         0              0              0              26
  17  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  18  Candle             -0.180         1.163          -3.104         0              90             0              40
  19  SprayBottle        -2.544         0.358          -2.923         0              0              0              24
  20  Bathtub            -2.104         0.524          -0.828         0              0              0
  21  Faucet             -0.040         1.017          -2.076         0              270            0
  22  Sink               -0.307         0.0            -2.076         0              270            0
  23  Mirror             -2.983         1.565          -2.900         0              0              0
  24  Shelf              -2.581         0.395          -2.923         0              0              0
  25  Shelf              -2.539         0.130          -2.923         0              0              0
  26  CounterTop         -2.704         1.029          -2.923         0              0              0
  27  TowelHolder        -1.338         1.179          0.0            0              180            0
  28  LightSwitch        -0.363         1.330          -3.999         0              0              0
  29  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  30  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  31  SinkBasin          -0.310         0.859          -2.076         0              0              0
  32  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  33  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  34  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  35  Toilet             -0.411         -0.000         -0.547         0              0              0
  36  Drawer             -0.229         0.161          -3.398         0              270            0
  37  Drawer             -0.229         0.420          -3.398         0              270            0
  38  Drawer             -0.229         0.680          -3.398         0              270            0
  39  Drawer             -0.229         0.940          -3.398         0              270            0
  40  Dresser            -0.205         0.000          -3.398         0              270            0
  41  ShowerHead         -2.579         1.261          -0.064         0              270            0
  42  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  43  EastWall
  44  EastWall
  45  SouthWall

Plan:
STEP 1: Move forward to the counter.  | STEP 2: Pick up the pink bar of soap between the rags.  | STEP 3: Turn around, move forward, turn to the right, move forward, turn to the right. | STEP 4: Put the bar of soap on the second shelf to the right of the gray bottle. | STEP 5: Turn to the right, go forward, turn to the left and go to the bathtub.  | STEP 6: Pick up the pink bar of soap in the bathtub.  | STEP 7: Turn around, go to the toilet, hang a right, go forward, hang a right and go to the counter. | STEP 8: Put the bar of soap to the right of the bar of soap on the second shelf. | END