Task: take rinsed off sink to a shelf and put it there

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.913          0.25           0              90             0
   1  Cloth              0.930          0.622          -2.315         0              0              0              33
   2  TissueBox          1.992          0.624          -2.094         0              0              0              33
   3  TissueBox          0.111          0.963          -1.899         0              0              0              25
   4  SprayBottle        -2.864         0.240          1.239          0              90             0              44
   5  SprayBottle        -2.808         0.240          1.551          0              90             0              44
   6  Candle             -3.090         0.873          1.317          0              90             0              44
   7  HandTowel          -0.885         1.617          -2.503         0              180            0              34
   8  Towel              0.465          1.21           -1.095         0              270            0              30
   9  SoapBottle         -0.114         0.976          2.250          0              270            0              39
  10  SoapBar            -0.208         0.962          -1.899         0              0              0              25
  11  ToiletPaper        0.430          0.959          -1.899         0              0              0              25
  12  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  13  SprayBottle        0.073          0.962          2.304          0              270            0              39
  14  TissueBox          2.204          0.624          -2.242         0              0              0              33
  15  ToiletPaper        -0.515         0.031          2.338          0              0              90             31
  16  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  17  Cloth              1.355          0.622          -2.094         0              0              0              33
  18  DishSponge         -0.368         0.964          -1.993         0              0              0              25
  19  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  20  Bathtub            -1.957         0.494          -1.233         0              0              0
  21  ShowerDoor         0.650          1.413          2.169          0              0              0
  22  ShowerGlass        0.0            0.0            0.0            0              0              0
  23  Drawer             0.300          0.304          -1.820         0              0              0
  24  Mirror             -0.046         1.512          -2.538         0              0              0
  25  CounterTop         0.196          0.430          -2.010         0              0              0
  26  Sink               -2.796         0.328          0.755          0              90             0
  27  Drawer             0.300          0.833          -1.820         0              0              0
  28  Drawer             0.300          0.682          -1.820         0              0              0
  29  Drawer             0.300          0.492          -1.820         0              0              0
  30  TowelHolder        0.572          1.195          -1.095         0              270            0
  31  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  32  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  33  Shelf              1.536          0.613          -2.242         0              0              0
  34  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  35  Window             -3.170         1.812          -1.697         90             90             0
  36  Window             -3.170         1.812          1.597          90             90             0
  37  Window             -2.144         1.809          -2.573         90             0              0
  38  Window             -3.170         1.812          -0.054         90             90             0
  39  Toilet             -0.064         0.012          1.838          0              180            0
  40  LightSwitch        -1.406         1.472          2.407          0              180            0
  41  SinkBasin          -2.796         0.875          0.765          0              90             0
  42  ShowerHead         1.591          1.700          -2.424         0              90             0
  43  Faucet             -2.676         0.423          -0.312         0              99.958         0
  44  SideTable          -2.847         0.013          1.509          0              90             0
  45  Faucet             -3.106         1.056          0.757          0              90             0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn right and go to the counter with the kleenex sitting on top | STEP 2: pick up the pink soap | STEP 3: turn around face the toilet then go to your left towards the grey sink | STEP 4: turn the water on place the soap in the sink rinse it off | STEP 5: take the soap the the wire shelving to the right of the sink | STEP 6: place the soap on the middle shelf | END