Task: Put two soap on the flusher

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          -0.5           0              270            0
   1  SoapBar            -2.726         0.924          -0.694         351.180        90             0              32
   2  ToiletPaper        -2.617         0.075          -0.411         0              0              0              20
   3  Towel              -1.051         1.535          -2.887         0              90             0              23
   4  HandTowel          -2.591         1.635          -0.047         0              0              0              25
   5  SoapBar            -2.742         0.995          -2.188         0              0              0              17
   6  ToiletPaper        -2.677         0.992          -0.307         0              0              0              17
   7  ToiletPaper        -0.084         0.902          -3.286         0              270            90             30
   8  SoapBottle         -2.567         0.081          -0.627         0              270            0              20
   9  Candle             -2.669         0.080          -0.847         0              0              0              18
  10  ScrubBrush         -1.048         0.000          -3.830         0              0              0              26
  11  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  12  Cloth              -0.432         1.036          -3.861         0              0              0              30
  13  SprayBottle        -2.770         0.079          -0.519         0              0              0              20
  14  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  15  Mirror             -2.947         1.559          -1.194         0              0              0
  16  Cabinet            -2.504         0.400          -2.208         0              0              0
  17  CounterTop         -2.744         0.986          -1.243         0              0              0
  18  Cabinet            -2.504         0.400          -1.238         0              0              0
  19  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  20  Cabinet            -2.508         0.426          -0.290         0              0              0
  21  Sink               -2.907         0.986          -1.761         0              90             0
  22  Cabinet            -2.508         0.426          -1.260         0              0              0
  23  TowelHolder        -1.158         1.521          -2.887         0              90             0
  24  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  25  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  26  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  27  Window             -0.566         1.730          -4.102         90             0              0
  28  LightSwitch        -1.332         1.391          0.001          0              180            0
  29  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  30  Toilet             -0.319         0.000          -3.533         0              90             0
  31  Faucet             -2.907         0.993          -1.761         0              90             0
  32  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  33  Sink               -2.907         0.986          -0.732         0              90             0
  34  Faucet             -2.907         0.993          -0.731         0              90             0
  35  ShowerHead         -2.868         1.219          -3.223         0              180            0
  36  EastWall
  37  EastWall
  38  SouthWall

Plan:
STEP 1: Turn left, go forward, turn right | STEP 2: Pick up the soap on the sink | STEP 3: Turn around, go forward, turn right, go to the toilet | STEP 4: Put the soap on the flusher | STEP 5: Turn around, go forward, turn left, go to the sink | STEP 6: Pick up the soap in the sink | STEP 7: Turn around, go forward, turn right, go to the toilet | STEP 8: Put the soap on the flusher | END