Task: get a soap container to put on the back of the toilet

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          0.899          0.0            0              270            0
   1  SoapBar            -3.307         0.925          -1.891         0              90             0              33
   2  SoapBar            -3.234         0.083          -2.086         0              0              0              20
   3  SprayBottle        -3.544         0.084          -0.872         0              0              0              29
   4  SprayBottle        -3.421         0.912          -1.348         0              0              0              30
   5  SoapBottle         -3.544         0.084          -1.589         0              0              0              25
   6  SoapBottle         -3.357         0.084          -1.634         0              0              0              25
   7  SoapBottle         -3.207         0.911          -1.412         0              0              0              30
   8  ToiletPaper        -3.594         0.113          -0.436         0              0              0              32
   9  Towel              0.136          1.121          -2.080         0              0              0              31
  10  Candle             -1.695         1.085          -2.122         0              0              0              37
  11  Cloth              -3.420         0.083          -1.233         0              0              0              23
  12  HandTowel          -3.711         1.474          -0.410         0              270            0              34
  13  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  14  SoapBottle         -3.545         0.084          -1.907         0              0              0              20
  15  SoapBar            -3.477         0.925          -1.056         0              90             0              42
  16  ToiletPaper        -2.305         0.755          -2.157         0              0              90             36
  17  ToiletPaper        -1.695         1.040          -1.999         0              0              0              37
  18  SprayBottle        -1.761         1.045          -2.061         0              0              0              37
  19  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  20  Cabinet            -3.169         0.370          -2.188         0              0              0
  21  Window             -1.737         1.292          -2.286         0              0              0
  22  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  23  Cabinet            -3.169         0.370          -1.379         0              0              0
  24  Mirror             -3.730         1.481          -1.427         0              0              0
  25  Cabinet            -3.169         0.370          -1.398         0              0              0
  26  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  27  Sink               -3.391         0.841          -1.828         0              90             0
  28  FloorLamp          -3.539         1.020          -0.932         0              90             0
  29  Cabinet            -3.169         0.370          -0.592         0              0              0
  30  CounterTop         -3.426         0.883          -1.384         0              0              0
  31  TowelHolder        0.136          1.106          -2.187         0              0              0
  32  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  33  SinkBasin          -3.392         0.916          -1.820         0              90             0
  34  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  35  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  36  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  37  Toilet             -1.896         -0.001         -1.738         0              90             0
  38  LightSwitch        -2.052         1.292          1.000          0              180            0
  39  FloorLamp          -3.539         1.020          -1.830         0              90             0
  40  ShowerHead         0.232          1.026          0.375          0              315            0
  41  Sink               -3.391         0.841          -0.931         0              90             0
  42  SinkBasin          -3.392         0.916          -0.923         0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn left, walk towards the wall, stop and turn right to face the sink | STEP 2: open the cabinet under the sink to take a soap container out | STEP 3: turn around and walk towards the toilet | STEP 4: put the soap container on the back of the toilet | END