Task: Put the soap on the toilet lid.

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           0.901          1.0            0              180            0
   1  Cloth              -3.634         0.219          1.309          0              0              0              40
   2  Cloth              -1.840         0.505          0.182          0              270            0              30
   3  SoapBar            -0.235         0.202          0.182          0              90             0              19
   4  SoapBar            -0.281         0.808          0.155          0              90             0              24
   5  ToiletPaper        -2.301         0.951          2.640          0              180            0              38
   6  Towel              -2.554         1.597          0.106          0              0              0              31
   7  Cloth              -1.329         0.806          0.155          0              90             0              24
   8  Candle             -2.220         0.953          2.640          0              180            0              38
   9  HandTowel          -0.038         1.68           2.956          0              90             0              35
  10  SoapBar            -0.235         0.506          0.182          0              90             0              19
  11  ToiletPaper        -1.853         0.805          0.090          0              90             0              24
  12  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  13  SprayBottle        -0.845         0.033          3.149          0              204.683        0              33
  14  TissueBox          -0.401         0.507          0.182          0              90             0              28
  15  ToiletPaper        -1.067         0.805          0.482          0              90             0              24
  16  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  17  SoapBottle         -0.805         0.809          0.221          0              90             0              24
  18  Drawer             -1.324         0.312          0.311          0              90             0
  19  Drawer             -0.290         0.312          0.311          0              90             0
  20  Sink               -0.463         -0.013         3.046          0              180            0
  21  Mirror             -0.504         1.741          3.304          0              0              0
  22  Drawer             -0.808         0.611          0.311          0              90             0
  23  Drawer             -0.808         0.312          0.311          0              90             0
  24  CounterTop         -1.850         0.001          0.342          0              90             0
  25  Bathtub            -3.499         0.148          0.939          0              0              0
  26  Drawer             -1.840         0.312          0.311          0              90             0
  27  Faucet             -0.463         0.969          3.212          0              180            0
  28  Drawer             -0.290         0.611          0.311          0              90             0
  29  Drawer             -1.324         0.611          0.311          0              90             0
  30  Drawer             -1.840         0.611          0.311          0              90             0
  31  TowelHolder        -2.553         1.582          0.0            0              0              0
  32  TowelHolder        -2.553         0.859          0.0            0              0              0
  33  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  34  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  35  HandTowelHolder    0.0            1.781          2.956          0              180            0
  36  LightSwitch        0.0            1.368          1.993          0              270            0
  37  Window             -4.083         1.735          1.162          90             270            0
  38  Toilet             -1.835         0.000          2.503          0              90             0
  39  SinkBasin          -0.452         0.888          2.969          0              180            0
  40  BathtubBasin       -3.518         0.210          0.939          0              0              0
  41  ShowerHead         -3.540         1.821          1.820          0              0              0
  42  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: Move over to the counter in front of the soap. | STEP 2: Pick up the soap from the counter. | STEP 3: Bring the soap over to the toilet.  | STEP 4: Put the soap on the toilet lid.  | END