Task: Place two soap dispensers on a counter.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.899          0.0            0              90             0
   1  Candle             -1.695         1.085          -2.152         0              0              0              32
   2  Candle             -3.545         0.125          -1.323         0              0              0              18
   3  SoapBottle         -3.594         0.122          -0.436         0              0              0              27
   4  Towel              0.136          1.121          -2.080         0              0              0              26
   5  Candle             -2.089         1.085          -1.999         0              0              0              32
   6  Cloth              -3.296         0.083          -2.042         0              90             0              15
   7  HandTowel          -3.332         1.519          -2.160         0              180            0              30
   8  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
   9  SoapBottle         -1.695         1.044          -2.061         0              0              0              32
  10  SoapBar            -3.278         0.910          -1.316         0              0              0              25
  11  ToiletPaper        -3.493         0.075          -1.635         0              0              0              20
  12  ToiletPaper        -2.305         0.755          -2.157         0              0              90             31
  13  SprayBottle        -3.607         0.085          -2.086         0              0              0              20
  14  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  15  Cabinet            -3.169         0.370          -2.188         0              0              0
  16  Window             -1.737         1.292          -2.286         0              0              0
  17  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  18  Cabinet            -3.169         0.370          -1.379         0              0              0
  19  Mirror             -3.730         1.481          -1.427         0              0              0
  20  Cabinet            -3.169         0.370          -1.398         0              0              0
  21  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  22  Sink               -3.391         0.841          -1.828         0              90             0
  23  FloorLamp          -3.539         1.020          -0.932         0              90             0
  24  Cabinet            -3.169         0.370          -0.592         0              0              0
  25  CounterTop         -3.426         0.883          -1.384         0              0              0
  26  TowelHolder        0.136          1.106          -2.187         0              0              0
  27  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  28  SinkBasin          -3.392         0.916          -1.820         0              90             0
  29  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  30  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  31  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  32  Toilet             -1.896         -0.001         -1.738         0              90             0
  33  LightSwitch        -2.052         1.292          1.000          0              180            0
  34  FloorLamp          -3.539         1.020          -1.830         0              90             0
  35  ShowerHead         0.232          1.026          0.375          0              315            0
  36  Sink               -3.391         0.841          -0.931         0              90             0
  37  SinkBasin          -3.392         0.916          -0.923         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn right and walk to the left side of the toilet. | STEP 2: Pick up the soap dispenser on the toilet tank. | STEP 3: Walk around the toilet to the sinks. | STEP 4: Place the dispenser on the counter in between the sinks. | STEP 5: Turn right and walk to the edge of the counter | STEP 6: Take the soap dispenser out of the bin on the floor. | STEP 7: Turn left and walk back to the far sink. | STEP 8: Place the dispenser on the counter behind the other one. | END