Task: Put two soap dispensers 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              -1.25          0.900          1.75           0              180            0
   1  Cloth              -3.511         0.219          1.432          0              0              0              45
   2  Cloth              -2.121         0.108          2.237          0              0              0              26
   3  TissueBox          -1.730         0.518          0.313          0              0              0              24
   4  SoapBar            -3.386         0.219          0.941          0              0              0              45
   5  SoapBar            -2.311         0.812          0.348          0              0              0              30
   6  Candle             -1.993         1.104          2.189          0              0              0              37
   7  Candle             -0.813         0.860          0.472          0              270            0              25
   8  SprayBottle        -0.858         0.119          0.262          0              0              0              27
   9  SprayBottle        -0.767         0.119          0.311          0              0              0              27
  10  SoapBottle         -0.991         1.137          0.169          0              0              0              36
  11  ToiletPaper        -2.057         1.101          2.096          0              0              0              37
  12  HandTowel          -1.296         1.765          0.040          0              180            0              42
  13  SoapBar            -0.381         0.952          2.642          0              270            0              44
  14  ToiletPaper        -0.721         0.857          0.374          0              270            0              25
  15  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  16  Candle             -2.253         1.300          2.329          0              0              0              38
  17  TissueBox          -0.931         1.134          0.407          0              0              0              36
  18  ToiletPaper        -0.859         0.857          0.309          0              270            0              25
  19  SoapBottle         -0.229         0.029          0.240          0              0              0              47
  20  SprayBottle        -0.256         0.954          2.696          0              270            0              44
  21  Towel              -2.760         1.569          0.107          0              0              0              39
  22  Cloth              -2.132         1.583          2.144          0              0              0              34
  23  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  24  Cabinet            -2.344         0.457          0.524          0              0              0
  25  Drawer             -0.813         0.956          0.384          0              270            0
  26  Cabinet            -1.891         0.443          1.982          0              0              0
  27  Cabinet            -0.605         0.457          0.524          0              0              0
  28  Drawer             -2.032         0.942          2.190          0              0              0
  29  Bathtub            -3.450         0.178          1.029          0              0              0
  30  CounterTop         -1.919         0.0            0.288          0              0              0
  31  Sink               -1.924         0.772          0.326          0              0              0
  32  Mirror             -1.934         1.666          0.107          0              0              0
  33  Faucet             -1.925         0.958          0.179          0              0              0
  34  Cabinet            -1.891         1.884          2.391          0              0              0
  35  Cabinet            -0.605         1.988          0.524          0              0              0
  36  CounterTop         -0.812         0.093          0.288          0              0              0
  37  Shelf              -2.029         1.183          2.189          0              0              0
  38  Shelf              -2.123         1.393          2.189          0              0              0
  39  TowelHolder        -2.760         1.555          0.000          0              0              0
  40  LightSwitch        0.0            1.427          1.993          0              270            0
  41  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  42  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  43  Window             -4.149         1.717          1.154          90             270            0
  44  Toilet             -0.456         -0.000         2.257          0              180            0
  45  BathtubBasin       -3.520         0.210          0.940          0              0              0
  46  SinkBasin          -1.931         0.841          0.320          0              0              0
  47  GarbageCan         -0.257         -0.000         0.259          0              0              0
  48  ShowerHead         -3.522         1.719          1.776          0              0              0
  49  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  50  NorthWall
  51  SouthWall
  52  SouthWall

Plan:
STEP 1: Take a step forward then turn left and walk to the door then turn right and walk to the garbage. | STEP 2: Pick up the soap dispenser in the garbage. | STEP 3: Turn right at the second cabinet to your left and then walk to the wall in front of you then turn right to face the toilet. | STEP 4: Put the soap dispenser on the back of the toilet near the handle. | STEP 5: Turn right and walk to the small end table. | STEP 6: Pick up the soap dispenser near the tissues on top of the table. | STEP 7: Walk back to where you put the first soap dispenser. | STEP 8: Put the soap dispenser to the left of the first on the back of the toilet. | END