Task: Put clean soap on the 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          0.25           0              270            0
   1  Cloth              -0.208         0.961          -2.275         0              0              0              30
   2  Cloth              -2.193         0.075          -1.198         0              45             0              Floor|-00.35|
   3  TissueBox          0.430          0.963          -2.275         0              0              0              30
   4  Candle             -0.368         0.962          -2.087         0              0              0              30
   5  SoapBar            0.135          0.965          2.277          0              270            0              44
   6  SoapBar            -2.921         0.874          1.473          0              90             0              49
   7  DishSponge         0.243          0.804          -1.939         0              0              0              32
   8  DishSponge         -2.977         0.245          1.707          0              90             0              49
   9  SoapBottle         1.142          0.634          -2.389         0              0              0              38
  10  SoapBottle         -2.808         0.257          1.317          0              90             0              49
  11  Candle             -0.051         0.965          2.304          0              270            0              44
  12  HandTowel          -0.885         1.617          -2.503         0              180            0              39
  13  Towel              0.465          1.21           -1.095         0              270            0              35
  14  SoapBottle         1.355          0.634          -2.315         0              0              0              38
  15  SoapBar            -2.864         0.244          1.551          0              90             0              49
  16  ToiletPaper        -0.051         0.962          2.223          0              270            0              44
  17  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  18  SprayBottle        -0.239         0.962          2.250          0              270            0              44
  19  TissueBox          1.142          0.624          -2.094         0              0              0              38
  20  ToiletPaper        -3.090         0.240          1.551          0              90             0              49
  21  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  22  Cloth              -1.840         0.075          -1.551         0              45             0              Floor|-00.35|
  23  DishSponge         -2.099         0.078          -0.868         0              45             0              46
  24  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  25  Bathtub            -1.957         0.494          -1.233         0              0              0
  26  ShowerDoor         0.650          1.413          2.169          0              0              0
  27  ShowerGlass        0.0            0.0            0.0            0              0              0
  28  Drawer             0.300          0.304          -1.820         0              0              0
  29  Mirror             -0.046         1.512          -2.538         0              0              0
  30  CounterTop         0.196          0.430          -2.010         0              0              0
  31  Sink               -2.796         0.328          0.755          0              90             0
  32  Drawer             0.300          0.833          -1.820         0              0              0
  33  Drawer             0.300          0.682          -1.820         0              0              0
  34  Drawer             0.300          0.492          -1.820         0              0              0
  35  TowelHolder        0.572          1.195          -1.095         0              270            0
  36  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  37  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  38  Shelf              1.536          0.613          -2.242         0              0              0
  39  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  40  Window             -3.170         1.812          -1.697         90             90             0
  41  Window             -3.170         1.812          1.597          90             90             0
  42  Window             -2.144         1.809          -2.573         90             0              0
  43  Window             -3.170         1.812          -0.054         90             90             0
  44  Toilet             -0.064         0.012          1.838          0              180            0
  45  LightSwitch        -1.406         1.472          2.407          0              180            0
  46  SinkBasin          -2.796         0.875          0.765          0              90             0
  47  ShowerHead         1.591          1.700          -2.424         0              90             0
  48  Faucet             -2.676         0.423          -0.312         0              99.958         0
  49  SideTable          -2.847         0.013          1.509          0              90             0
  50  Faucet             -3.106         1.056          0.757          0              90             0
  51
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn right, then turn left and head to the rack | STEP 2: Pick up the soap on the first level of the rack | STEP 3: Turn to your left and head to the sink | STEP 4: Put the soap on the sink then rinse it and pick it up | STEP 5: Turn to your right and go back to the rack | STEP 6: Put the soap on the second level of the rack | END