Task: Put liquid soap on 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              -1.75          0.903          3.75           0              90             0
   1  Candle             0.379          0.106          2.255          0              0              0              26
   2  Candle             0.432          1.063          2.108          0              0              0              24
   3  SoapBottle         0.232          0.101          3.265          0              0              0              20
   4  SoapBottle         -1.925         0.707          1.008          0              0              0              21
   5  SoapBottle         -2.163         0.707          0.426          0              0              0              21
   6  ToiletPaper        0.765          1.051          4.049          0              0              0              24
   7  Towel              -2.393         1.478          0.580          0              90             0              27
   8  Candle             0.524          0.106          2.448          0              0              0              26
   9  Cloth              0.305          0.097          3.460          0              0              0              20
  10  HandTowel          0.397          1.656          2.039          0              180            0              31
  11  Plunger            0.480          0.002          4.793          0              0              0
  12  SoapBar            0.098          1.054          3.040          0              0              0              24
  13  ToiletPaper        0.377          0.094          3.265          0              0              0              20
  14  ToiletPaper        0.219          1.051          2.078          0              0              0              24
  15  SoapBottle         -0.093         0.707          0.135          0              0              0              21
  16  SprayBottle        0.729          1.048          4.342          0              270            0              33
  17  ScrubBrush         0.688          0.002          4.867          0              0              0
  18  Sink               0.426          1.037          2.947          0              270            0
  19  Window             -2.548         1.673          2.405          0              0              0
  20  Cabinet            0.068          0.366          3.772          0              0              0
  21  Bathtub            -1.042         0.155          0.558          0              0              0
  22  SinkBasin          0.404          0.926          2.926          0              270            0
  23  Mirror             0.858          1.863          2.972          0              0              0
  24  CounterTop         0.487          1.015          3.090          0              0              0
  25  Faucet             -0.207         0.687          0.546          0              0              0
  26  Cabinet            0.074          0.379          2.045          0              0              0
  27  TowelHolder        -2.5           1.463          0.579          0              90             0
  28  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  29  LightSwitch        -1.121         1.333          5.000          0              180            0
  30  BathtubBasin       -1.062         0.153          0.556          0              0              0
  31  HandTowelHolder    0.398          1.758          2.000          0              270            0
  32  GarbageCan         -0.229         0.001          1.445          0              270            0
  33  Toilet             0.376          0.002          4.470          0              0              0
  34  Faucet             0.661          1.043          3.371          0              270            0
  35  Faucet             0.661          1.043          2.520          0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Take a step to your right then walk to the sink. | STEP 2: Open the cabinet under the left side of the left sink and grab the bottle of liquid soap under there then close the door. | STEP 3: Take a small step backwards then a step to your left. | STEP 4: Put the soap on the back of the toilet. | END