Task: Place the clean soap on the rack.

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           0.913          0.75           0              270            0
   1  Candle             -0.048         0.962          -2.181         0              0              0              28
   2  SoapBar            2.204          0.623          -2.094         0              0              0              36
   3  SoapBar            -2.751         0.874          1.395          0              90             0              47
   4  SoapBar            -1.863         0.076          -1.104         0              45             0              28
   5  SprayBottle        1.355          0.620          -2.020         0              0              0              36
   6  DishSponge         0.300          0.250          -1.905         0              0              0              26
   7  SoapBottle         -2.808         0.255          1.473          0              90             0              47
   8  SoapBottle         -0.048         0.973          -1.993         0              0              0              28
   9  Candle             0.135          0.965          2.250          0              270            0              42
  10  HandTowel          -0.885         1.617          -2.503         0              180            0              37
  11  Towel              0.465          1.21           -1.095         0              270            0              33
  12  SoapBottle         -0.048         0.973          -1.899         0              0              0              28
  13  SoapBar            -2.808         0.244          1.707          0              90             0              47
  14  ToiletPaper        -0.178         0.957          2.268          0              0              0              42
  15  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  16  SprayBottle        0.073          0.962          2.304          0              270            0              42
  17  TissueBox          0.270          0.963          -1.899         0              0              0              28
  18  ToiletPaper        -0.515         0.031          2.338          0              0              90             34
  19  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  20  Cloth              -1.681         0.075          -1.392         0              45             0              Floor|-00.35|
  21  DishSponge         -2.933         0.058          2.115          0              90             0              47
  22  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  23  Bathtub            -1.957         0.494          -1.233         0              0              0
  24  ShowerDoor         0.650          1.413          2.169          0              0              0
  25  ShowerGlass        0.0            0.0            0.0            0              0              0
  26  Drawer             0.300          0.304          -1.820         0              0              0
  27  Mirror             -0.046         1.512          -2.538         0              0              0
  28  CounterTop         0.196          0.430          -2.010         0              0              0
  29  Sink               -2.796         0.328          0.755          0              90             0
  30  Drawer             0.300          0.833          -1.820         0              0              0
  31  Drawer             0.300          0.682          -1.820         0              0              0
  32  Drawer             0.300          0.492          -1.820         0              0              0
  33  TowelHolder        0.572          1.195          -1.095         0              270            0
  34  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  35  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  36  Shelf              1.536          0.613          -2.242         0              0              0
  37  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  38  Window             -3.170         1.812          -1.697         90             90             0
  39  Window             -3.170         1.812          1.597          90             90             0
  40  Window             -2.144         1.809          -2.573         90             0              0
  41  Window             -3.170         1.812          -0.054         90             90             0
  42  Toilet             -0.064         0.012          1.838          0              180            0
  43  LightSwitch        -1.406         1.472          2.407          0              180            0
  44  SinkBasin          -2.796         0.875          0.765          0              90             0
  45  ShowerHead         1.591          1.700          -2.424         0              90             0
  46  Faucet             -2.676         0.423          -0.312         0              99.958         0
  47  SideTable          -2.847         0.013          1.509          0              90             0
  48  Faucet             -3.106         1.056          0.757          0              90             0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around, walk straight to the wall, then turn left to face rack. | STEP 2: Look down the rack to grab the soap on top of the rack. | STEP 3: Turn left to walk straight, walk straight, make a quick left, then turn right, walk straight to the tub, turn right when you reach the tub, turn around to face the sink. | STEP 4: Place the soap in the sink, run the water, turn the water off, and grab the soap from the sink. | STEP 5: Turn right, walk straight, turn left to face the bathroom door, walk straight, turn left when you reach the door to face the rack. | STEP 6: Place the clean soap on the rack. | END