Task: Place soap 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              -2.25          0.901          3.25           0              0              0
   1  SprayBottle        -0.867         0.044          3.86           0              0              0              30
   2  Towel              -2.05          1.059          -0.183         0              0              0              23
   3  HandTowel          -3.420         1.356          0.816          0              270            0              32
   4  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
   5  SoapBar            -1.010         0.042          3.86           0              0              0              30
   6  ToiletPaper        -0.482         0.784          2.361          0              0              270            25
   7  SoapBottle         0.447          0.633          0.009          0              47.956         0              21
   8  ToiletPaper        0.386          1.043          3.297          0              270            0              33
   9  Cloth              -0.271         0.041          1.019          0              0              0              18
  10  PaperTowelRoll     -3.206         0.341          0.078          0              270            0              37
  11  Candle             -2.855         1.043          3.964          0              0              0              28
  12  SprayBottle        0.386          1.048          3.100          0              270            0              33
  13  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  14  DishSponge         -0.142         0.054          1.575          0              0              0              18
  15  Faucet             -0.141         0.524          -0.211         0              0              0
  16  Window             -1.507         1.322          -0.364         0              0              0
  17  Faucet             -3.401         1.017          1.531          0              90             0
  18  BathtubBasin       -0.155         0.042          0.884          0              0              0
  19  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  20  ShowerHead         -0.126         1.447          2.047          0              270            0
  21  Bathtub            -0.205         0.359          0.924          0              0              0
  22  Mirror             -3.447         1.575          1.516          0              0              0
  23  TowelHolder        -2.049         1.045          -0.290         0              0              0
  24  TowelHolder        -1.304         1.045          -0.290         0              0              0
  25  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  26  Shelf              -2.587         0.778          3.909          0              0              0
  27  Shelf              -2.587         1.287          3.941          0              0              0
  28  Shelf              -2.587         1.032          3.941          0              0              0
  29  Shelf              -2.587         1.534          3.909          0              0              0
  30  GarbageCan         0.047          -0.002         3.878          0              0              0
  31  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  32  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  33  Toilet             0.063          0.002          3.096          0              0              0
  34  LightSwitch        -3.459         1.437          2.496          0              90             0
  35  Sink               -3.115         -0.013         1.531          0              90             0
  36  SinkBasin          -3.081         0.935          1.537          0              90             0
  37  SideTable          -3.171         0.002          0.170          0              270            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn right and walk over to the black trash can | STEP 2: Pick up the soap that is in the trash can. | STEP 3: Turn around and cross the room then right left to head to the metal shelf | STEP 4: Place the soap on the middle shelf | END