Task: Place soap on top of 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          1.0            0              0              0
   1  Cloth              -3.449         0.219          1.268          0              0              0              40
   2  SoapBar            -2.064         0.850          0.364          0              0              0              41
   3  Candle             -1.527         0.812          0.348          0              0              0              25
   4  Candle             -1.512         0.812          0.468          0              0              0              25
   5  SprayBottle        -0.813         0.119          0.262          0              0              0              22
   6  SoapBottle         -0.254         0.030          0.179          0              0              0              42
   7  HandTowel          -1.296         1.765          0.040          0              180            0              37
   8  SoapBar            -0.812         1.134          0.110          0              0              0              31
   9  ToiletPaper        -0.921         1.124          0.210          0              0              0              31
  10  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  11  Candle             -0.318         0.952          2.642          0              270            0              39
  12  TissueBox          -0.767         1.654          0.262          0              0              0              30
  13  ToiletPaper        -0.067         1.015          2.171          0              270            270            36
  14  SoapBottle         -0.693         1.137          0.169          0              0              0              31
  15  SprayBottle        -1.634         0.125          0.364          0              0              0              19
  16  Towel              -2.760         1.569          0.107          0              0              0              34
  17  Cloth              -2.111         0.517          0.363          0              0              0              19
  18  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  19  Cabinet            -2.344         0.457          0.524          0              0              0
  20  Drawer             -0.813         0.956          0.384          0              270            0
  21  Cabinet            -1.891         0.443          1.982          0              0              0
  22  Cabinet            -0.605         0.457          0.524          0              0              0
  23  Drawer             -2.032         0.942          2.190          0              0              0
  24  Bathtub            -3.450         0.178          1.029          0              0              0
  25  CounterTop         -1.919         0.0            0.288          0              0              0
  26  Sink               -1.924         0.772          0.326          0              0              0
  27  Mirror             -1.934         1.666          0.107          0              0              0
  28  Faucet             -1.925         0.958          0.179          0              0              0
  29  Cabinet            -1.891         1.884          2.391          0              0              0
  30  Cabinet            -0.605         1.988          0.524          0              0              0
  31  CounterTop         -0.812         0.093          0.288          0              0              0
  32  Shelf              -2.029         1.183          2.189          0              0              0
  33  Shelf              -2.123         1.393          2.189          0              0              0
  34  TowelHolder        -2.760         1.555          0.000          0              0              0
  35  LightSwitch        0.0            1.427          1.993          0              270            0
  36  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  37  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  38  Window             -4.149         1.717          1.154          90             270            0
  39  Toilet             -0.456         -0.000         2.257          0              180            0
  40  BathtubBasin       -3.520         0.210          0.940          0              0              0
  41  SinkBasin          -1.931         0.841          0.320          0              0              0
  42  GarbageCan         -0.257         -0.000         0.259          0              0              0
  43  ShowerHead         -3.522         1.719          1.776          0              0              0
  44  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn around and walk toward the counter | STEP 2: Pick up the soap on the counter | STEP 3: Turn around and walk back to the toilet | STEP 4: Place the soap on top of the toilet | STEP 5: Walk around the toilet and to the wall on the left side, turn right and walk towards waste basket | STEP 6: Pick up soap out of waste basket | STEP 7: Turn around and walk back to the toilet | STEP 8: Place the soap on top of the toilet | END