Task: Putting two bottles of soap on 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              -2.5           0.904          0.5            0              270            0
   1  Cloth              -2.904         0.108          -0.547         0              0              0              23
   2  SprayBottle        -3.100         0.109          -0.440         0              0              0              23
   3  Candle             -2.962         1.003          -0.208         0              0              0              33
   4  Candle             -3.316         1.050          1.329          0              90             0              40
   5  SoapBar            -2.810         1.002          -0.680         0              0              0              33
   6  SoapBottle         -3.165         0.111          -0.122         0              0              0              28
   7  SoapBottle         -2.838         0.111          0.437          0              0              0              22
   8  SoapBottle         -2.832         1.004          0.550          0              303.713        0              33
   9  HandTowel          -3.321         1.464          0.762          0              270            0              37
  10  Towel              -1.615         1.398          1.800          0              180            0              35
  11  HandTowel          -2.96          1.593          -0.728         0              180            0              36
  12  SoapBar            -3.035         0.108          -0.654         0              0              0              23
  13  ToiletPaper        -3.246         1.039          1.143          0              0              0              40
  14  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             39
  15  Candle             -2.965         1.870          1.725          0              0              0              24
  16  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  17  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  18  SoapBottle         -3.105         0.051          0.869          0              0              0              34
  19  Cloth              -2.886         1.002          -0.444         0              0              0              33
  20  SprayBottle        -3.189         1.003          -0.444         0              0              0              33
  21  Faucet             -0.618         0.667          1.805          0              0              0
  22  Cabinet            -2.761         0.446          0.599          0              0              0
  23  Cabinet            -2.756         0.421          -0.759         0              0              0
  24  Cabinet            -2.905         2.098          1.878          0              0              0
  25  Sink               -3.016         0.865          0.207          0              90             0
  26  Bathtub            -0.603         0.286          0.832          0              0              0
  27  SinkBasin          -3.016         0.874          0.217          0              90             0
  28  Cabinet            -2.756         0.421          -0.272         0              0              0
  29  Faucet             -3.313         0.989          0.207          0              90             0
  30  Cabinet            -2.900         2.053          1.005          0              0              0
  31  BathtubBasin       -0.558         0.023          0.811          0              0              0
  32  Mirror             -3.348         1.476          0.020          0              0              0
  33  CounterTop         -3.049         1.039          -0.442         0              0              0
  34  GarbageCan         -3.080         -0.007         0.899          0              0              0
  35  TowelHolder        -1.615         1.383          1.907          0              180            0
  36  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  37  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  38  LightSwitch        -2.313         1.426          -0.766         0              0              0
  39  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  40  Toilet             -2.931         0.003          1.364          0              180            0
  41  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Move slightly to the right and look at the trash can | STEP 2: Grab the bottle of soap out of the trash can | STEP 3: Back up and look at the toilet | STEP 4: Put the bottle on top of the toilet | STEP 5: Turn left and go to the right of the sink | STEP 6: Grab the bottle of soap off of the counter | STEP 7: Turn right and look at the toilet | STEP 8: Put the bottle on top of the toilet | END