Task: place a clean bar of soap on the towel rack

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.913          0.75           0              270            0
   1  Candle             -0.048         0.962          -2.181         0              0              0              28
   2  SoapBar            2.204          0.623          -2.094         0              0              0              36
   3  SoapBar            -2.751         0.874          1.395          0              90             0              47
   4  SoapBar            -1.863         0.076          -1.104         0              45             0              28
   5  SprayBottle        1.355          0.620          -2.020         0              0              0              36
   6  DishSponge         0.300          0.250          -1.905         0              0              0              26
   7  SoapBottle         -2.808         0.255          1.473          0              90             0              47
   8  SoapBottle         -0.048         0.973          -1.993         0              0              0              28
   9  Candle             0.135          0.965          2.250          0              270            0              42
  10  HandTowel          -0.885         1.617          -2.503         0              180            0              37
  11  Towel              0.465          1.21           -1.095         0              270            0              33
  12  SoapBottle         -0.048         0.973          -1.899         0              0              0              28
  13  SoapBar            -2.808         0.244          1.707          0              90             0              47
  14  ToiletPaper        -0.178         0.957          2.268          0              0              0              42
  15  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  16  SprayBottle        0.073          0.962          2.304          0              270            0              42
  17  TissueBox          0.270          0.963          -1.899         0              0              0              28
  18  ToiletPaper        -0.515         0.031          2.338          0              0              90             34
  19  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  20  Cloth              -1.681         0.075          -1.392         0              45             0              Floor|-00.35|
  21  DishSponge         -2.933         0.058          2.115          0              90             0              47
  22  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  23  Bathtub            -1.957         0.494          -1.233         0              0              0
  24  ShowerDoor         0.650          1.413          2.169          0              0              0
  25  ShowerGlass        0.0            0.0            0.0            0              0              0
  26  Drawer             0.300          0.304          -1.820         0              0              0
  27  Mirror             -0.046         1.512          -2.538         0              0              0
  28  CounterTop         0.196          0.430          -2.010         0              0              0
  29  Sink               -2.796         0.328          0.755          0              90             0
  30  Drawer             0.300          0.833          -1.820         0              0              0
  31  Drawer             0.300          0.682          -1.820         0              0              0
  32  Drawer             0.300          0.492          -1.820         0              0              0
  33  TowelHolder        0.572          1.195          -1.095         0              270            0
  34  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  35  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  36  Shelf              1.536          0.613          -2.242         0              0              0
  37  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  38  Window             -3.170         1.812          -1.697         90             90             0
  39  Window             -3.170         1.812          1.597          90             90             0
  40  Window             -2.144         1.809          -2.573         90             0              0
  41  Window             -3.170         1.812          -0.054         90             90             0
  42  Toilet             -0.064         0.012          1.838          0              180            0
  43  LightSwitch        -1.406         1.472          2.407          0              180            0
  44  SinkBasin          -2.796         0.875          0.765          0              90             0
  45  ShowerHead         1.591          1.700          -2.424         0              90             0
  46  Faucet             -2.676         0.423          -0.312         0              99.958         0
  47  SideTable          -2.847         0.013          1.509          0              90             0
  48  Faucet             -3.106         1.056          0.757          0              90             0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn right and walk until the bathroom towel rack is on your left, then turn towards the towel rack and walks to it | STEP 2: grab a bar of soap out of the top rack of the towel holder rack | STEP 3: turn left and walk over to the bathtub at the end of the room, then turn right and walk to the wall, then one more right turn to face the left side of the sink | STEP 4: rinse off the soap in the sink | STEP 5: turn right and walk forwards a bit to be center with the tub, then take a left and walk to the end of the room, then another left to stand in front of the towel rack | STEP 6: place the soap back on the top shelf of the towel rack | END