Task: Place all bars of 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              0.25           0.913          -0.75          0              270            0
   1  Cloth              0.357          0.248          -1.939         0              270            0              26
   2  Cloth              0.930          0.622          -2.094         0              0              0              36
   3  TissueBox          0.430          0.963          -1.993         0              0              0              28
   4  TissueBox          2.204          0.624          -2.389         0              0              0              36
   5  Candle             0.135          0.965          2.223          0              270            0              42
   6  Candle             -0.239         0.964          2.357          0              270            0              42
   7  SoapBar            0.111          0.962          -2.181         0              0              0              28
   8  SoapBar            -2.796         0.884          0.639          0              90             0              44
   9  Candle             1.567          0.622          -2.315         0              0              0              36
  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         1.780          0.634          -2.389         0              0              0              36
  13  SoapBar            -0.048         0.962          -1.805         0              0              0              28
  14  ToiletPaper        -0.527         0.959          -1.805         0              0              0              28
  15  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  16  SprayBottle        1.142          0.620          -2.463         0              0              0              36
  17  TissueBox          -2.751         0.246          1.395          0              90             0              47
  18  ToiletPaper        -3.034         0.871          1.707          0              90             0              47
  19  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  20  Cloth              -2.140         0.075          -1.145         0              45             0              Floor|-00.35|
  21  DishSponge         -1.669         0.078          -1.616         0              45             0              28
  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 to the left, walk to the counter in front of you | STEP 2: Pick the soap up from the counter | STEP 3: Turn around, walk to the toilet then take a left, walk to the shelf | STEP 4: Place the soap on the shelf | STEP 5: Turn to the left, walk to the sink next to you | STEP 6: Pick the soap up from the sink | STEP 7: Turn to the right, walk back to the shelf that you placed the other soap on | STEP 8: Place the soap on the shelf | END