Task: To wash a bar of soap and place it on the middle metal 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          1.25           0              270            0
   1  Cloth              0.386          1.047          3.231          0              270            0              38
   2  Candle             0.324          1.048          3.100          0              270            0              38
   3  SprayBottle        -3.093         0.236          0.234          0              270            0              42
   4  DishSponge         0.416          1.048          2.969          0              270            0              38
   5  SoapBottle         -2.293         1.545          3.879          0              0              0              34
   6  ToiletPaper        -3.319         0.232          -0.077         0              270            0              42
   7  Towel              -2.05          1.059          -0.183         0              0              0              28
   8  HandTowel          -3.420         1.356          0.816          0              270            0              37
   9  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  10  SoapBar            -3.387         1.041          1.263          0              0              0              40
  11  ToiletPaper        -0.914         0.039          3.887          0              0              0              35
  12  SoapBottle         0.283          0.633          -0.185         0              47.956         0              26
  13  ToiletPaper        -2.855         0.784          3.970          0              0              0              31
  14  Cloth              0.025          0.053          0.193          0              0              0              23
  15  PaperTowelRoll     -2.293         0.894          3.940          0              0              0              31
  16  Candle             -2.667         0.789          4.000          0              0              0              31
  17  SprayBottle        -3.319         0.864          0.000          0              270            0              42
  18  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  19  DishSponge         -3.166         0.856          1.451          0              90             0              41
  20  Faucet             -0.141         0.524          -0.211         0              0              0
  21  Window             -1.507         1.322          -0.364         0              0              0
  22  Faucet             -3.401         1.017          1.531          0              90             0
  23  BathtubBasin       -0.155         0.042          0.884          0              0              0
  24  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  25  ShowerHead         -0.126         1.447          2.047          0              270            0
  26  Bathtub            -0.205         0.359          0.924          0              0              0
  27  Mirror             -3.447         1.575          1.516          0              0              0
  28  TowelHolder        -2.049         1.045          -0.290         0              0              0
  29  TowelHolder        -1.304         1.045          -0.290         0              0              0
  30  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  31  Shelf              -2.587         0.778          3.909          0              0              0
  32  Shelf              -2.587         1.287          3.941          0              0              0
  33  Shelf              -2.587         1.032          3.941          0              0              0
  34  Shelf              -2.587         1.534          3.909          0              0              0
  35  GarbageCan         0.047          -0.002         3.878          0              0              0
  36  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  37  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  38  Toilet             0.063          0.002          3.096          0              0              0
  39  LightSwitch        -3.459         1.437          2.496          0              90             0
  40  Sink               -3.115         -0.013         1.531          0              90             0
  41  SinkBasin          -3.081         0.935          1.537          0              90             0
  42  SideTable          -3.171         0.002          0.170          0              270            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Walk around the sink to face the left side. | STEP 2: Pick up the soap on the back of the sink. | STEP 3: Step around to face the front of the sink. | STEP 4: Wash the soap in the sink and then pick it back up. | STEP 5: Step to the left to face the metal shelves. | STEP 6: Place the soap on the middle metal shelf. | END