Task: Wash soap and put it 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              -2.0           0.901          2.5            0              90             0
   1  Candle             0.355          1.048          2.903          0              270            0              40
   2  Candle             -2.387         0.789          3.940          0              0              0              33
   3  SprayBottle        -3.206         0.236          0.156          0              270            0              44
   4  SprayBottle        -3.150         0.234          0.390          0              270            0              44
   5  SoapBottle         -0.867         0.045          3.86           0              0              0              37
   6  SoapBottle         -3.037         0.866          0.078          0              270            0              44
   7  Towel              -1.304         1.059          -0.183         0              0              0              31
   8  HandTowel          -3.420         1.356          2.098          0              270            0              39
   9  Towel              -2.05          1.059          -0.183         0              0              0              30
  10  HandTowel          -3.420         1.356          0.816          0              270            0              39
  11  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  12  SoapBar            -2.667         0.787          3.909          0              0              0              33
  13  ToiletPaper        -3.150         0.860          0.312          0              270            0              44
  14  SoapBottle         -0.618         0.633          -0.090         0              137.956        0              28
  15  ToiletPaper        -2.310         0.777          3.875          0              0              0              33
  16  Cloth              0.386          1.047          3.100          0              270            0              40
  17  PaperTowelRoll     -0.641         0.736          1.862          0              227.956        0              28
  18  Candle             0.334          0.632          -0.091         0              47.956         0              28
  19  SprayBottle        -0.771         0.044          3.832          0              0              0              37
  20  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  21  DishSponge         -3.007         0.856          1.451          0              90             0              43
  22  Faucet             -0.141         0.524          -0.211         0              0              0
  23  Window             -1.507         1.322          -0.364         0              0              0
  24  Faucet             -3.401         1.017          1.531          0              90             0
  25  BathtubBasin       -0.155         0.042          0.884          0              0              0
  26  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  27  ShowerHead         -0.126         1.447          2.047          0              270            0
  28  Bathtub            -0.205         0.359          0.924          0              0              0
  29  Mirror             -3.447         1.575          1.516          0              0              0
  30  TowelHolder        -2.049         1.045          -0.290         0              0              0
  31  TowelHolder        -1.304         1.045          -0.290         0              0              0
  32  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  33  Shelf              -2.587         0.778          3.909          0              0              0
  34  Shelf              -2.587         1.287          3.941          0              0              0
  35  Shelf              -2.587         1.032          3.941          0              0              0
  36  Shelf              -2.587         1.534          3.909          0              0              0
  37  GarbageCan         0.047          -0.002         3.878          0              0              0
  38  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  39  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  40  Toilet             0.063          0.002          3.096          0              0              0
  41  LightSwitch        -3.459         1.437          2.496          0              90             0
  42  Sink               -3.115         -0.013         1.531          0              90             0
  43  SinkBasin          -3.081         0.935          1.537          0              90             0
  44  SideTable          -3.171         0.002          0.170          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around, proceed to door.  Turn to right, proceed to shelf. | STEP 2: Pick up pink soap from bottom shelf. | STEP 3: Turn around, proceed to sink.  Turn right to face sink. | STEP 4: Put soap in sink on top of green sponge.  Turn water on, off, and drain water.  Pick up soap. | STEP 5: Turn left, proceed to wall.  Turn right to face shelf. | STEP 6: Put soap on shelf behind the two spray bottles. | END