Task: Move two soap dispensers from the toilet to the rack of shelves

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              90             0
   1  Cloth              -0.058         0.053          0.654          0              0              0              22
   2  SoapBar            -2.761         1.041          3.919          0              0              0              32
   3  DishSponge         0.355          1.048          3.034          0              270            0              37
   4  SoapBottle         0.355          1.049          3.166          0              270            0              37
   5  Towel              -2.05          1.059          -0.183         0              0              0              27
   6  Towel              -1.304         1.059          -0.183         0              0              0              28
   7  HandTowel          -3.420         1.356          0.816          0              270            0              36
   8  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
   9  SoapBar            -3.093         0.233          0.390          0              270            0              41
  10  ToiletPaper        -0.482         0.784          2.361          0              0              270            29
  11  SoapBottle         0.447          1.049          3.034          0              270            0              37
  12  ToiletPaper        -2.310         0.777          3.875          0              0              0              30
  13  Cloth              -3.150         0.235          0.156          0              270            0              41
  14  PaperTowelRoll     -3.093         0.969          0.156          0              270            0              41
  15  Candle             -3.376         0.236          0.390          0              270            0              41
  16  SprayBottle        0.324          1.048          2.969          0              270            0              37
  17  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  18  DishSponge         -0.227         0.054          1.345          0              0              0              22
  19  Faucet             -0.141         0.524          -0.211         0              0              0
  20  Window             -1.507         1.322          -0.364         0              0              0
  21  Faucet             -3.401         1.017          1.531          0              90             0
  22  BathtubBasin       -0.155         0.042          0.884          0              0              0
  23  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  24  ShowerHead         -0.126         1.447          2.047          0              270            0
  25  Bathtub            -0.205         0.359          0.924          0              0              0
  26  Mirror             -3.447         1.575          1.516          0              0              0
  27  TowelHolder        -2.049         1.045          -0.290         0              0              0
  28  TowelHolder        -1.304         1.045          -0.290         0              0              0
  29  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  30  Shelf              -2.587         0.778          3.909          0              0              0
  31  Shelf              -2.587         1.287          3.941          0              0              0
  32  Shelf              -2.587         1.032          3.941          0              0              0
  33  Shelf              -2.587         1.534          3.909          0              0              0
  34  GarbageCan         0.047          -0.002         3.878          0              0              0
  35  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  36  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  37  Toilet             0.063          0.002          3.096          0              0              0
  38  LightSwitch        -3.459         1.437          2.496          0              90             0
  39  Sink               -3.115         -0.013         1.531          0              90             0
  40  SinkBasin          -3.081         0.935          1.537          0              90             0
  41  SideTable          -3.171         0.002          0.170          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn and go to the toilet. | STEP 2: Pick up a soap dispenser on the toilet.  | STEP 3: Turn and go to the rack of shelves in the corner. | STEP 4: Put the soap dispenser on  the rack of shelves  | STEP 5: Turn and go to the toilet. | STEP 6: Pick up a soap dispenser on the toilet.  | STEP 7: Turn and go to the rack of shelves in the corner. | STEP 8: Put the soap dispenser on  the rack of shelves  | END