Task: place a soap dispenser on top 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              0.0            0.900          -1.0           0              180            0
   1  Cloth              -1.862         0.042          -2.108         0              270            0              31
   2  Cloth              -1.640         0.042          -2.968         0              270            0              31
   3  TissueBox          -1.353         0.818          -0.193         0              0              0              33
   4  TissueBox          0.852          0.818          -1.773         0              90             0              35
   5  Candle             -0.133         0.952          -3.927         0              90             0              29
   6  SoapBar            -2.085         0.044          -1.822         0              270            0              31
   7  SprayBottle        -1.656         0.815          -0.080         0              0              0              33
   8  ToiletPaper        -1.454         0.815          -0.193         0              0              0              33
   9  SoapBottle         0.754          0.821          -0.724         0              90             0              34
  10  Cloth              -1.862         0.042          -2.682         0              270            0              31
  11  Candle             0.824          0.817          -1.874         0              90             0              35
  12  HandTowel          -2.166         1.500          -0.037         0              0              0              26
  13  Towel              -1.525         1.685          -0.105         0              180            0              24
  14  SoapBar            -0.008         0.952          -3.927         0              90             0              29
  15  ToiletPaper        0.054          0.949          -3.820         0              90             0              29
  16  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  17  SprayBottle        0.795          0.815          -1.975         0              90             0              35
  18  TissueBox          0.839          0.818          -0.522         0              90             0              34
  19  ToiletPaper        0.405          0.729          -3.885         0              0              270            32
  20  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  21  Sink               -2.171         0.294          -0.660         0              90             0
  22  Bathtub            -2.122         -0.088         -3.116         0              0              0
  23  Mirror             -2.503         1.423          -0.703         0              0              0
  24  TowelHolder        -1.524         1.671          0.001          0              180            0
  25  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  26  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  27  LightSwitch        0.321          1.327          0.000          0              180            0
  28  Window             -0.540         1.625          -3.996         90             0              0
  29  Toilet             0.004          -0.000         -3.436         0              0              0
  30  SinkBasin          -2.176         0.824          -0.659         0              0              0
  31  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  32  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  33  SideTable          -1.526         0.001          -0.172         0              0              0
  34  SideTable          0.780          0.001          -0.667         0              90             0
  35  SideTable          0.793          0.001          -1.817         0              90             0
  36  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  37  Faucet             -2.431         0.982          -0.660         0              90             0
  38  Faucet             -1.909         0.666          -3.855         0              180            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: turn left to face the white cabinet | STEP 2: grab the soap dispenser off of the white cabinet | STEP 3: walk over to the toilet | STEP 4: place the soap dispenser on top of the toilet | END