Task: Put two bars of soap 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              -0.5           0.901          -1.5           0              0              0
   1  Cloth              -2.770         0.079          -1.008         0              0              0              20
   2  SoapBar            -2.745         0.995          -1.285         0              0              0              19
   3  SoapBottle         -0.679         1.048          -3.887         0              0              0              32
   4  SoapBottle         -2.87          0.998          -1.177         0              0              0              19
   5  Towel              -1.051         1.535          -2.887         0              90             0              25
   6  HandTowel          -2.591         1.635          -0.047         0              0              0              27
   7  SoapBar            -1.446         0.056          -0.162         0              180            0              22
   8  ToiletPaper        -0.084         0.902          -3.286         0              270            90             32
   9  ToiletPaper        -0.417         1.042          -3.918         0              0              0              32
  10  SoapBottle         -2.618         0.082          -0.955         0              0              0              20
  11  Candle             -0.548         1.046          -3.948         0              0              0              32
  12  ScrubBrush         -1.048         0.000          -3.830         0              0              0              28
  13  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  14  Cloth              -2.719         0.078          -0.519         0              0              0              22
  15  SprayBottle        -2.867         0.996          -0.292         0              0              0              19
  16  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  17  Mirror             -2.947         1.559          -1.194         0              0              0
  18  Cabinet            -2.504         0.400          -2.208         0              0              0
  19  CounterTop         -2.744         0.986          -1.243         0              0              0
  20  Cabinet            -2.504         0.400          -1.238         0              0              0
  21  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  22  Cabinet            -2.508         0.426          -0.290         0              0              0
  23  Sink               -2.907         0.986          -1.761         0              90             0
  24  Cabinet            -2.508         0.426          -1.260         0              0              0
  25  TowelHolder        -1.158         1.521          -2.887         0              90             0
  26  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  27  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  28  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  29  Window             -0.566         1.730          -4.102         90             0              0
  30  LightSwitch        -1.332         1.391          0.001          0              180            0
  31  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  32  Toilet             -0.319         0.000          -3.533         0              90             0
  33  Faucet             -2.907         0.993          -1.761         0              90             0
  34  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  35  Sink               -2.907         0.986          -0.732         0              90             0
  36  Faucet             -2.907         0.993          -0.731         0              90             0
  37  ShowerHead         -2.868         1.219          -3.223         0              180            0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: Turn left and go to the counter between the sinks | STEP 2: Grab the bar of soap off of the counter | STEP 3: Turn around and go to the toilet | STEP 4: Put the soap on top of the toilet | STEP 5: Turn around and go to the trash can | STEP 6: Grab the bar of soap out of the trash can | STEP 7: Turn around and go to the toilet | STEP 8: Put the soap on top of the toilet | END