Task: Put a soap bottle on the toilet tank lid.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          2.25           0              180            0
   1  Cloth              -1.500         0.067          3.276          0              0              0              26
   2  SoapBar            -1.219         0.994          3.812          0              0              0              27
   3  Candle             -1.561         0.068          2.958          0              0              0              20
   4  Candle             -1.620         0.068          2.857          0              0              0              20
   5  SoapBottle         -1.620         0.068          3.642          0              0              0              28
   6  SoapBottle         -1.416         0.993          3.933          0              0              0              27
   7  Towel              -0.200         1.174          1.286          0              0              0              29
   8  HandTowel          -1.275         1.6            3.961          0              0              0              31
   9  SoapBar            -1.284         0.994          3.933          0              0              0              27
  10  ToiletPaper        -1.350         0.991          2.863          0              0              0              27
  11  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  12  Candle             -1.547         0.994          3.041          0              0              0              27
  13  TissueBox          -1.439         0.068          2.290          0              0              0              22
  14  SoapBottle         0.313          0.046          3.838          0              0              0              30
  15  ToiletPaper        -1.350         0.991          2.148          0              0              0              27
  16  SprayBottle        -1.620         0.068          2.441          0              0              0              22
  17  Cloth              0.356          0.885          1.8            0              85.370         0              Floor|-01.72|
  18  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  19  Mirror             -1.703         1.661          3.509          0              0              0
  20  Cabinet            -1.187         0.394          3.030          0              0              0
  21  ShowerDoor         -1.631         1.014          1.170          0              0              0
  22  Cabinet            -1.187         0.394          2.127          0              0              0
  23  Sink               -1.326         0.960          2.567          0              90             0
  24  ShowerGlass        0.254          0.788          0.485          0              0              0
  25  Mirror             -1.703         1.661          2.480          0              0              0
  26  Cabinet            -1.187         0.394          3.063          0              0              0
  27  CounterTop         -1.348         0.972          2.945          0              0              0
  28  Cabinet            -1.187         0.394          3.966          0              0              0
  29  TowelHolder        -0.200         1.160          1.179          0              0              0
  30  GarbageCan         0.209          0.000          3.772          0              0              0
  31  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  32  Window             -0.726         1.667          -0.009         90             0              0
  33  Toilet             -0.039         0.090          1.733          0              270            0
  34  SinkBasin          -1.317         0.998          2.567          0              90             0
  35  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  36  LightSwitch        0.444          1.368          3.323          0              270            0
  37  Faucet             -1.587         0.960          3.513          0              90             0
  38  ShowerHead         -1.618         1.251          0.558          0              180            0
  39  Sink               -1.325         0.960          3.512          0              90             0
  40  SinkBasin          -1.317         0.998          3.513          0              90             0
  41  Faucet             -1.587         0.960          2.569          0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around, move to the right sink on the left. | STEP 2: Pick up the soap bottle on the counter, right of the sink.  | STEP 3: Turn around, bring the soap bottle to the toilet. | STEP 4: Put the soap bottle on the toilet tank lid.  | END