Task: Put a bar of soap on the back 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          2.0            0              90             0
   1  SoapBar            -1.912         0.953          1.884          0              180            0              34
   2  SoapBar            -1.696         0.918          3.933          0              0              0              22
   3  Candle             -1.965         0.953          1.821          0              180            0              34
   4  SprayBottle        -1.795         0.037          3.316          0              0              0              25
   5  SprayBottle        -1.427         0.071          1.380          0              0              0              31
   6  SoapBottle         -1.578         0.918          3.196          0              90             0              22
   7  SoapBottle         -1.858         0.953          2.071          0              270            0              34
   8  Candle             -1.846         0.040          3.678          0              0              0              28
   9  HandTowel          -1.670         1.496          3.962          0              0              0              32
  10  SoapBottle         -1.872         0.918          2.371          0              90             0              22
  11  Towel              0.833          1.160          2.357          0              0              0              29
  12  Cloth              -1.694         0.039          2.508          0              0              0              19
  13  SoapBar            -1.912         0.953          1.696          0              180            0              34
  14  ToiletPaper        -1.593         0.037          3.360          0              0              0              25
  15  Plunger            -1.876         0.000          2.276          0              0              0              Floor|-02.00|
  16  SprayBottle        -1.694         0.037          3.360          0              0              0              25
  17  ToiletPaper        -1.140         1.013          1.256          0              0              90             30
  18  ScrubBrush         -1.703         0.000          2.217          0              0              0              Floor|-02.00|
  19  Cabinet            -1.479         0.348          2.362          0              0              0
  20  Cabinet            -1.483         0.372          3.152          0              0              0
  21  Sink               -1.746         0.884          3.553          0              90             0
  22  CounterTop         -1.758         0.669          3.164          0              0              0
  23  Faucet             -1.894         1.006          2.730          0              0              0
  24  Mirror             -1.943         1.532          3.443          0              0              0
  25  Cabinet            -1.479         0.348          3.170          0              0              0
  26  ShowerDoor         0.527          1.039          2.098          0              0              0
  27  Painting           -0.566         1.591          1.173          0              0              0
  28  Cabinet            -1.483         0.372          3.960          0              0              0
  29  TowelHolder        0.833          1.146          2.250          0              0              0
  30  ToiletPaperHanger  -1.200         1.013          1.164          0              0              0
  31  GarbageCan         -1.704         -0.032         1.429          0              2.393          0
  32  HandTowelHolder    -1.670         1.598          4.000          0              90             0
  33  LightSwitch        1.249          1.322          3.635          0              270            0
  34  Toilet             -1.447         0.000          1.961          0              90             0
  35  SinkBasin          -1.671         0.935          3.571          0              0              10.090
  36  ShowerHead         0.871          1.097          2.009          0              270            0
  37  Faucet             -1.894         1.006          3.560          0              0              0
  38  SinkBasin          -1.671         0.935          2.741          0              0              10.090
  39  Sink               -1.746         0.884          2.723          0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Go left, go forward, then turn left to face the rightmost sink. | STEP 2: Pick up the bar soap, on the counter, to the right of the sink. | STEP 3: Go left, then go forward, then go right to face the leftmost sink. | STEP 4: Wash the soap, in the sink. | STEP 5: Go to the toilet, next to the sink. | STEP 6: Put the bar soap on the back of the toilet, to the left of the hand soap. | END