Task: Place clean soap on 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              -1.75          0.901          2.75           0              180            0
   1  Candle             0.386          1.048          3.166          0              270            0              39
   2  Candle             -3.319         0.864          0.234          0              270            0              43
   3  SprayBottle        -3.093         0.864          0.234          0              270            0              43
   4  SprayBottle        -2.480         1.544          3.970          0              0              0              35
   5  DishSponge         -0.819         0.044          3.832          0              0              0              36
   6  DishSponge         -0.058         0.054          0.193          0              0              0              24
   7  ToiletPaper        -3.319         0.229          -0.077         0              270            0              43
   8  Towel              -2.05          1.059          -0.183         0              0              0              29
   9  HandTowel          -3.420         1.356          0.816          0              270            0              38
  10  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  11  SoapBar            0.355          1.046          2.903          0              270            0              39
  12  ToiletPaper        -3.206         0.229          0.078          0              270            0              43
  13  SoapBottle         -1.010         0.045          3.86           0              0              0              36
  14  ToiletPaper        -0.482         0.784          2.361          0              0              270            31
  15  Cloth              -3.263         0.233          0.234          0              270            0              43
  16  PaperTowelRoll     -2.387         0.894          3.940          0              0              0              32
  17  Candle             0.447          1.048          2.969          0              270            0              39
  18  SprayBottle        -2.761         1.544          3.909          0              0              0              35
  19  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  20  DishSponge         -0.311         0.054          0.884          0              0              0              24
  21  Faucet             -0.141         0.524          -0.211         0              0              0
  22  Window             -1.507         1.322          -0.364         0              0              0
  23  Faucet             -3.401         1.017          1.531          0              90             0
  24  BathtubBasin       -0.155         0.042          0.884          0              0              0
  25  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  26  ShowerHead         -0.126         1.447          2.047          0              270            0
  27  Bathtub            -0.205         0.359          0.924          0              0              0
  28  Mirror             -3.447         1.575          1.516          0              0              0
  29  TowelHolder        -2.049         1.045          -0.290         0              0              0
  30  TowelHolder        -1.304         1.045          -0.290         0              0              0
  31  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  32  Shelf              -2.587         0.778          3.909          0              0              0
  33  Shelf              -2.587         1.287          3.941          0              0              0
  34  Shelf              -2.587         1.032          3.941          0              0              0
  35  Shelf              -2.587         1.534          3.909          0              0              0
  36  GarbageCan         0.047          -0.002         3.878          0              0              0
  37  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  38  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  39  Toilet             0.063          0.002          3.096          0              0              0
  40  LightSwitch        -3.459         1.437          2.496          0              90             0
  41  Sink               -3.115         -0.013         1.531          0              90             0
  42  SinkBasin          -3.081         0.935          1.537          0              90             0
  43  SideTable          -3.171         0.002          0.170          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left, move forward towards the black rubbish bin, turn right and move towards the toilet. | STEP 2: Pick up the pink bar of soap on top of the toilet cistern. | STEP 3: Turn right, move forward the door then turn left and move to the black bath mat then turn right and move toward the sink. | STEP 4: Place the soap in the sink, turn on the water, turn off the water, and pick the soap up from the sink. | STEP 5: Turn left and move toward the hanging towel on the wall then turn right and face the rack. | STEP 6: Place the soap on the rack in front of the spray bottle. | END