Task: Put the soap bars 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              -1.0           0.899          -1.75          0              270            0
   1  Cloth              -3.483         0.083          -2.042         0              90             0              17
   2  SoapBar            -3.392         0.925          -2.015         0              90             0              30
   3  Candle             -3.295         0.124          -0.649         0              0              0              26
   4  Candle             -3.232         0.124          -1.499         0              0              0              22
   5  SoapBottle         -3.594         0.118          -0.436         0              0              0              29
   6  Towel              0.136          1.121          -2.080         0              0              0              28
   7  Candle             -1.761         1.085          -2.122         0              0              0              34
   8  Cloth              -3.420         0.083          -1.143         0              0              0              20
   9  HandTowel          -3.711         1.474          -0.410         0              270            0              31
  10  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  11  SoapBottle         -3.278         0.911          -1.412         0              0              0              27
  12  SoapBar            -3.307         0.925          -1.056         0              90             0              39
  13  ToiletPaper        -3.564         0.907          -1.380         0              0              0              27
  14  ToiletPaper        -3.483         0.080          -1.278         0              0              0              20
  15  SprayBottle        -3.421         0.912          -1.316         0              0              0              27
  16  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  17  Cabinet            -3.169         0.370          -2.188         0              0              0
  18  Window             -1.737         1.292          -2.286         0              0              0
  19  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  20  Cabinet            -3.169         0.370          -1.379         0              0              0
  21  Mirror             -3.730         1.481          -1.427         0              0              0
  22  Cabinet            -3.169         0.370          -1.398         0              0              0
  23  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  24  Sink               -3.391         0.841          -1.828         0              90             0
  25  FloorLamp          -3.539         1.020          -0.932         0              90             0
  26  Cabinet            -3.169         0.370          -0.592         0              0              0
  27  CounterTop         -3.426         0.883          -1.384         0              0              0
  28  TowelHolder        0.136          1.106          -2.187         0              0              0
  29  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  30  SinkBasin          -3.392         0.916          -1.820         0              90             0
  31  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  32  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  33  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  34  Toilet             -1.896         -0.001         -1.738         0              90             0
  35  LightSwitch        -2.052         1.292          1.000          0              180            0
  36  FloorLamp          -3.539         1.020          -1.830         0              90             0
  37  ShowerHead         0.232          1.026          0.375          0              315            0
  38  Sink               -3.391         0.841          -0.931         0              90             0
  39  SinkBasin          -3.392         0.916          -0.923         0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Walk forward and around the toilet to left bathroom sink | STEP 2: Pick up the soap bar from the sink | STEP 3: Turn around and walk up to the right side of the toilet | STEP 4: Put the soap bar on top of the back of the toilet | STEP 5: Turn around and walk up to the right bathroom sink | STEP 6: Pick up the soap bar from the sink | STEP 7: Turn around and walk back to the right side of the toilet | STEP 8: Put the soap bar on top of the back of the toilet | END