Task: To place the 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              -2.25          0.901          1.75           0              180            0
   1  Cloth              -0.142         0.053          1.345          0              0              0              24
   2  SprayBottle        0.386          1.048          3.166          0              270            0              39
   3  SprayBottle        -3.319         0.236          0.078          0              270            0              43
   4  DishSponge         -3.093         0.234          0.078          0              270            0              43
   5  DishSponge         -0.914         0.044          3.86           0              0              0              36
   6  SoapBottle         -2.574         1.545          3.849          0              0              0              35
   7  HandTowel          -3.420         1.356          0.817          0              270            0              38
   8  Towel              -1.304         1.059          -0.183         0              0              0              30
   9  HandTowel          -3.419         1.338          2.102          0              270            0              37
  10  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  11  SoapBar            -2.387         1.296          3.919          0              0              0              33
  12  ToiletPaper        -0.736         0.627          1.535          0              0              0              27
  13  SoapBottle         0.447          1.049          2.969          0              270            0              39
  14  ToiletPaper        -3.376         0.232          0.234          0              270            0              43
  15  Cloth              -0.227         0.053          1.575          0              0              0              24
  16  PaperTowelRoll     -0.723         0.149          3.914          0              0              0              36
  17  Candle             0.324          1.048          3.034          0              270            0              39
  18  SprayBottle        0.294          1.048          3.231          0              270            0              39
  19  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  20  DishSponge         -3.007         0.856          1.571          0              90             0              42
  21  Faucet             -0.141         0.524          -0.211         0              0              0
  22  Window             -1.507         1.322          -0.364         0              0              0
  23  Faucet             -3.401         1.017          1.531          0              90             0
  24  BathtubBasin       -0.155         0.042          0.884          0              0              0
  25  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  26  ShowerHead         -0.126         1.447          2.047          0              270            0
  27  Bathtub            -0.205         0.359          0.924          0              0              0
  28  Mirror             -3.447         1.575          1.516          0              0              0
  29  TowelHolder        -2.049         1.045          -0.290         0              0              0
  30  TowelHolder        -1.304         1.045          -0.290         0              0              0
  31  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  32  Shelf              -2.587         0.778          3.909          0              0              0
  33  Shelf              -2.587         1.287          3.941          0              0              0
  34  Shelf              -2.587         1.032          3.941          0              0              0
  35  Shelf              -2.587         1.534          3.909          0              0              0
  36  GarbageCan         0.047          -0.002         3.878          0              0              0
  37  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  38  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  39  Toilet             0.063          0.002          3.096          0              0              0
  40  LightSwitch        -3.459         1.437          2.496          0              90             0
  41  Sink               -3.115         -0.013         1.531          0              90             0
  42  SinkBasin          -3.081         0.935          1.537          0              90             0
  43  SideTable          -3.171         0.002          0.170          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk across the room to the shelves.  | STEP 2: Take the soap off the third shelf from the bottom. | STEP 3: Turn around and walk across the room, then turn right to face the rack.  | STEP 4: Place the soap on the middle rack. | END