Task: Place a wet bar of soap 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          0.902          0.0            0              0              0
   1  Cloth              -2.347         0.702          -0.585         0              90             0              28
   2  TissueBox          -1.396         0.176          -0.683         0              90             0              32
   3  TissueBox          -1.665         0.704          -0.698         0              90             0              28
   4  SprayBottle        -0.669         0.951          -0.748         0              90             0              40
   5  DishSponge         -2.887         0.177          -0.538         0              90             0              27
   6  HandTowel          -2.576         1.683          2.244          0              0              0              37
   7  ToiletPaper        -2.440         0.438          -0.683         0              90             0              24
   8  Towel              -3.66          1.567          -0.459         0              0              0              35
   9  Candle             -3.110         0.611          -0.290         0              0              0              33
  10  HandTowel          -1.275         1.683          2.244          0              0              0              38
  11  SoapBar            -2.079         1.093          2.164          0              180            0              23
  12  ToiletPaper        -3.250         0.609          1.647          0              0              0              33
  13  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  14  SprayBottle        -1.892         0.700          -0.642         0              90             0              28
  15  SoapBottle         -1.665         0.706          -0.528         0              90             0              28
  16  TissueBox          -2.120         0.704          -0.698         0              90             0              28
  17  ToiletPaper        -0.669         0.951          -0.695         0              90             0              40
  18  PaperTowelRoll     -0.544         1.060          -0.722         0              90             0              40
  19  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  20  Cloth              -3.775         0.038          0.224          0              0              0              42
  21  DishSponge         -3.689         0.040          0.965          0              0              0              33
  22  Drawer             -1.444         0.531          -0.620         0              90             0
  23  Sink               -1.919         0.441          2.032          0              180            0
  24  Drawer             -2.343         0.531          -0.620         0              90             0
  25  Drawer             -2.343         0.271          -0.620         0              90             0
  26  Drawer             -1.894         0.271          -0.620         0              90             0
  27  Drawer             -2.791         0.271          -0.620         0              90             0
  28  CounterTop         -2.799         0.001          -0.593         0              90             0
  29  Drawer             -1.894         0.531          -0.620         0              90             0
  30  Mirror             -1.909         1.748          2.280          0              0              0
  31  Drawer             -2.791         0.531          -0.620         0              90             0
  32  Drawer             -1.444         0.271          -0.620         0              90             0
  33  Bathtub            -3.706         0.342          0.636          0              0              0
  34  Faucet             -1.919         1.064          2.182          0              180            0
  35  TowelHolder        -3.660         1.552          -0.558         0              0              0
  36  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  37  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  38  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  39  LightSwitch        -0.558         1.282          2.281          0              180            0
  40  Toilet             -0.720         0.001          -0.310         0              0              0
  41  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  42  BathtubBasin       -3.788         0.028          0.595          0              0              0
  43  SinkBasin          -1.908         1.011          1.981          0              180            0
  44  ShowerHead         -3.740         1.858          1.827          0              0              0
  45  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Move to the sink to the right of the bath tub | STEP 2:  Pick up the bar of soap from the sink | STEP 3: Move to the other side of the sink | STEP 4: Put soap into the sink and let the water run a moment before turning off the water and picking the soap back up | STEP 5: Move to the toilet to the left of the counter | STEP 6: Place the soap on the back of the toilet | END