Task: place a soap dispenser on top 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              -1.5           0.902          -1.25          0              180            0
   1  Cloth              -1.777         0.081          0.825          0              90             0              20
   2  Cloth              0.280          0.034          -0.324         0              270            0              29
   3  Candle             -1.524         1.002          0.488          0              0              0              17
   4  Candle             -0.158         0.558          -0.077         0              0              0              19
   5  Towel              -0.490         1.367          0.902          0              180            0              27
   6  Candle             -0.188         0.558          -0.844         0              0              0              19
   7  HandTowel          -3.096         1.587          0.744          0              270            0              31
   8  SoapBar            -2.902         0.081          0.825          0              0              0              16
   9  ToiletPaper        -2.004         0.078          0.502          0              0              0              21
  10  Cloth              -2.049         0.081          0.825          0              0              0              21
  11  ToiletPaper        -0.865         1.038          0.946          357.597        0              0              33
  12  SprayBottle        -1.123         1.047          0.937          0              180            0              33
  13  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  14  SoapBottle         -2.856         0.184          -1.584         0              0              0              28
  15  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  16  Cabinet            -3.094         0.390          0.421          0              0              0
  17  CounterTop         -2.298         0.953          0.689          0              0              0
  18  Cabinet            -2.305         0.415          0.425          0              0              0
  19  Bathtub            0.286          0.290          -0.077         0              0              0
  20  Cabinet            -1.496         0.415          0.425          0              0              0
  21  Cabinet            -2.286         0.390          0.421          0              0              0
  22  Sink               -1.924         0.930          0.675          0              180            0
  23  Faucet             -1.922         1.015          0.887          0              0              0
  24  Mirror             -2.306         1.526          1.001          0              0              0
  25  Faucet             -2.681         1.015          0.887          0              0              0
  26  LightSwitch        -1.389         1.263          -1.693         0              0              0
  27  TowelHolder        -0.490         1.353          1.009          0              180            0
  28  GarbageCan         -2.857         0.016          -1.487         0              0              0
  29  BathtubBasin       0.349          0.023          -0.135         0              270            0
  30  SinkBasin          -1.908         0.961          0.669          0              180            0
  31  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  32  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  33  Toilet             -1.054         0.001          0.552          0              270            0
  34  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  35  Faucet             0.270          0.670          0.906          0              0              0
  36  SinkBasin          -2.666         0.961          0.669          0              180            0
  37  Sink               -2.681         0.930          0.675          0              180            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn right and walk to the end of the room where the garbage is | STEP 2: grab the soap dispenser out of the garbage | STEP 3: turn right and walk to the bathroom sinks, then turn right and walk to the tub at the end of the room, then turn left and walk over to face the side of the toilet | STEP 4: place the dispenser on top of the toilet | END