Task: Place two bars of soap on a toilet tank.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.899          -0.5           0              0              0
   1  SoapBar            -3.544         0.083          -0.827         0              0              0              27
   2  SoapBar            -3.349         0.925          -1.829         0              90             0              31
   3  SoapBar            -3.358         0.083          -2.086         0              0              0              18
   4  Candle             -3.295         0.124          -1.723         0              0              0              23
   5  SprayBottle        -3.207         0.912          -1.348         0              0              0              28
   6  SprayBottle        -1.826         1.045          -2.122         0              0              0              35
   7  Towel              0.136          1.121          -2.080         0              0              0              29
   8  Candle             -3.482         0.124          -1.499         0              0              0              23
   9  Cloth              -3.483         0.083          -1.997         0              0              0              18
  10  HandTowel          -3.332         1.519          -2.160         0              180            0              33
  11  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  12  SoapBottle         -2.023         1.044          -2.091         0              0              0              35
  13  SoapBar            -3.618         0.116          -0.461         0              0              0              30
  14  ToiletPaper        -2.305         0.755          -2.157         0              0              90             34
  15  ToiletPaper        -1.761         1.040          -1.999         0              0              0              35
  16  SprayBottle        -3.421         0.912          -1.380         0              0              0              28
  17  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  18  Cabinet            -3.169         0.370          -2.188         0              0              0
  19  Window             -1.737         1.292          -2.286         0              0              0
  20  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  21  Cabinet            -3.169         0.370          -1.379         0              0              0
  22  Mirror             -3.730         1.481          -1.427         0              0              0
  23  Cabinet            -3.169         0.370          -1.398         0              0              0
  24  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  25  Sink               -3.391         0.841          -1.828         0              90             0
  26  FloorLamp          -3.539         1.020          -0.932         0              90             0
  27  Cabinet            -3.169         0.370          -0.592         0              0              0
  28  CounterTop         -3.426         0.883          -1.384         0              0              0
  29  TowelHolder        0.136          1.106          -2.187         0              0              0
  30  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  31  SinkBasin          -3.392         0.916          -1.820         0              90             0
  32  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  33  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  34  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  35  Toilet             -1.896         -0.001         -1.738         0              90             0
  36  LightSwitch        -2.052         1.292          1.000          0              180            0
  37  FloorLamp          -3.539         1.020          -1.830         0              90             0
  38  ShowerHead         0.232          1.026          0.375          0              315            0
  39  Sink               -3.391         0.841          -0.931         0              90             0
  40  SinkBasin          -3.392         0.916          -0.923         0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn left, hang a left at the counter and turn right at the wall to face the sink. | STEP 2: Pick up the bar of soap from inside the sink. | STEP 3: Turn around to face the white toilet. | STEP 4: Put the bar of soap on the toilet tank in front of the gold soap bottle on the right side. | STEP 5: Turn around to face the cabinets underneath the sink on the vanity. | STEP 6: Open the lower left cabinet under the sink, pick up the bar of soap inside and close the door. | STEP 7: Turn around to face the white toilet. | STEP 8: Put the bar of soap on the toilet tank in the front middle in between the gold roll and the other bar of soap. | END