Task: Put the 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              -2.25          0.901          2.5            0              270            0
   1  Cloth              -0.142         0.053          0.193          0              0              0              27
   2  SoapBar            0.240          0.630          2.016          0              317.956        0              30
   3  SoapBar            0.025          0.052          0.423          0              0              0              27
   4  Candle             -2.667         1.544          3.818          0              0              0              38
   5  Candle             -2.761         1.043          3.896          0              0              0              37
   6  DishSponge         -0.819         0.044          3.832          0              0              0              39
   7  DishSponge         -3.319         0.864          0.390          0              270            0              46
   8  SoapBottle         -0.606         0.633          -0.079         0              137.956        0              30
   9  SoapBottle         0.324          1.049          3.166          0              270            0              42
  10  HandTowel          -3.420         1.356          0.817          0              270            0              41
  11  Towel              -2.05          1.059          -0.183         0              0              0              32
  12  HandTowel          -3.419         1.338          2.102          0              270            0              40
  13  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  14  SoapBar            -3.376         1.041          1.263          0              0              0              44
  15  ToiletPaper        -0.482         0.784          2.361          0              0              270            34
  16  SoapBottle         -0.962         0.045          3.86           0              0              0              39
  17  ToiletPaper        -2.310         0.777          3.875          0              0              0              35
  18  Cloth              -3.093         0.863          0.000          0              270            0              46
  19  PaperTowelRoll     -3.037         0.339          0.000          0              270            0              46
  20  Candle             -2.293         1.298          3.896          0              0              0              38
  21  SprayBottle        -3.319         0.236          0.234          0              270            0              46
  22  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  23  DishSponge         -3.263         0.234          -0.077         0              270            0              46
  24  Faucet             -0.141         0.524          -0.211         0              0              0
  25  Window             -1.507         1.322          -0.364         0              0              0
  26  Faucet             -3.401         1.017          1.531          0              90             0
  27  BathtubBasin       -0.155         0.042          0.884          0              0              0
  28  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  29  ShowerHead         -0.126         1.447          2.047          0              270            0
  30  Bathtub            -0.205         0.359          0.924          0              0              0
  31  Mirror             -3.447         1.575          1.516          0              0              0
  32  TowelHolder        -2.049         1.045          -0.290         0              0              0
  33  TowelHolder        -1.304         1.045          -0.290         0              0              0
  34  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  35  Shelf              -2.587         0.778          3.909          0              0              0
  36  Shelf              -2.587         1.287          3.941          0              0              0
  37  Shelf              -2.587         1.032          3.941          0              0              0
  38  Shelf              -2.587         1.534          3.909          0              0              0
  39  GarbageCan         0.047          -0.002         3.878          0              0              0
  40  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  41  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  42  Toilet             0.063          0.002          3.096          0              0              0
  43  LightSwitch        -3.459         1.437          2.496          0              90             0
  44  Sink               -3.115         -0.013         1.531          0              90             0
  45  SinkBasin          -3.081         0.935          1.537          0              90             0
  46  SideTable          -3.171         0.002          0.170          0              270            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn to your left walk towards the sink | STEP 2: Pick up the soap on the side of the faucet at the sink | STEP 3: Turn around to your right walk a few steps then face the rack | STEP 4: Put the soap on the second layer of the rack | END