Task: Move two soap dispensers to the counter.

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           0.900          0.0            0              180            0
   1  Cloth              -1.413         0.926          -1.534         347.851        0              0              42
   2  Cloth              -0.599         0.934          -1.497         347.851        0              0              40
   3  SoapBar            -0.121         0.908          -1.552         0              0              0              27
   4  SoapBar            0.877          0.171          -1.105         0              270            0              41
   5  Candle             -0.137         0.015          -1.486         0              0              0              30
   6  SprayBottle        0.078          0.153          -1.598         0              90             0              44
   7  SprayBottle        -0.949         0.910          -1.418         0              0              0              27
   8  SoapBottle         -1.994         1.046          0.337          0              90             0              45
   9  SoapBottle         -0.686         0.018          -1.435         0              0              0              24
  10  SoapBottle         -1.871         1.046          0.337          0              90             0              45
  11  ToiletPaper        -1.199         0.919          0.680          0              180            270            38
  12  Towel              0.89           1.368          -1.755         0              0              0              37
  13  HandTowel          -2.028         1.492          -1.482         0              270            0              43
  14  SoapBar            0.567          0.591          -1.748         0              0              0              32
  15  ToiletPaper        -1.470         0.014          -1.486         0              0              0              23
  16  ToiletPaper        -0.489         0.014          -1.638         0              0              0              30
  17  Cloth              0.938          0.171          -1.248         0              270            0              41
  18  SprayBottle        -1.901         0.017          -1.588         0              0              0              33
  19  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  20  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  21  Candle             -1.933         1.042          0.140          0              90             0              45
  22  SoapBottle         -1.871         1.046          0.075          0              90             0              45
  23  Cabinet            -1.052         0.340          -1.327         0              0              0
  24  Cabinet            -1.039         0.340          -1.327         0              0              0
  25  ShowerGlass        0.919          1.417          -0.206         0              0              0
  26  Sink               -1.560         0.811          -1.598         0              0              0
  27  CounterTop         -1.041         0.884          -1.531         0              0              0
  28  ShowerDoor         0.451          0.926          0.696          0              0              0
  29  Faucet             -0.505         0.898          -1.779         0              0              0
  30  Cabinet            -0.071         0.340          -1.327         0              0              0
  31  Mirror             -1.014         1.501          -1.840         0              0              0
  32  Bathtub            0.883          0.392          -1.154         0              0              0
  33  Cabinet            -2.020         0.340          -1.327         0              0              0
  34  Sink               -0.526         0.811          -1.598         0              0              0
  35  Window             1.532          1.672          -1.037         0              0              0
  36  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  37  TowelHolder        0.889          1.353          -1.861         0              0              0
  38  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  39  LightSwitch        0.224          1.333          0.762          0              180            0
  40  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  41  BathtubBasin       0.938          0.160          -1.126         0              270            0
  42  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  43  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  44  GarbageCan         0.122          -0.002         -1.558         0              270            0
  45  Toilet             -1.610         -0.000         0.209          0              180            0
  46  Faucet             -1.537         0.898          -1.779         0              0              0
  47  Faucet             0.929          0.509          -1.978         0              0              0
  48  Faucet             0.890          1.689          0.724          0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Take a step forward, then turn right and walk over to the wall, turn right to face the toilet. | STEP 2: Pick up the back left soap dispenser off of the toilet tank. | STEP 3: Turn right and walk forward, then turn right and walk up to the counter. | STEP 4: Put the soap dispenser on the front edge of the counter in between the two sinks. | STEP 5: Walk to the left side of the counter. | STEP 6: Open the second cabinet door from the left below the counter and take out the soap dispenser then close the cabinet. | STEP 7: Turn right and walk forward, then turn left to face the counter. | STEP 8: Put the soap dispenser on the counter behind the soap dispenser that is already there. | END