Task: Place a soap bottle in a trash bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          3.0            0              270            0
   1  TissueBox          -1.561         0.069          3.693          0              0              0              28
   2  TissueBox          -1.284         0.994          2.923          0              0              0              27
   3  Cloth              -1.439         0.067          3.276          0              0              0              26
   4  Candle             -1.322         0.068          3.592          0              0              0              28
   5  Candle             -1.560         0.067          2.290          0              0              0              22
   6  SprayBottle        -1.501         0.069          2.908          0              0              0              26
   7  Towel              -0.200         1.174          1.286          0              0              0              29
   8  HandTowel          -1.275         1.6            3.961          0              0              0              31
   9  SoapBar            -1.319         0.067          2.492          0              0              0              22
  10  ToiletPaper        0.356          0.809          1.299          0              270            270            35
  11  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  12  Candle             -1.481         0.994          3.782          0              0              0              27
  13  TissueBox          -1.350         0.994          2.148          0              0              0              27
  14  SoapBottle         -1.416         0.993          2.269          0              0              0              27
  15  ToiletPaper        -1.481         0.991          3.933          0              0              0              27
  16  SprayBottle        0.351          0.894          1.566          0              0              0              33
  17  Cloth              -1.547         0.994          3.041          0              90             0              27
  18  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  19  Mirror             -1.703         1.661          3.509          0              0              0
  20  Cabinet            -1.187         0.394          3.030          0              0              0
  21  ShowerDoor         -1.631         1.014          1.170          0              0              0
  22  Cabinet            -1.187         0.394          2.127          0              0              0
  23  Sink               -1.326         0.960          2.567          0              90             0
  24  ShowerGlass        0.254          0.788          0.485          0              0              0
  25  Mirror             -1.703         1.661          2.480          0              0              0
  26  Cabinet            -1.187         0.394          3.063          0              0              0
  27  CounterTop         -1.348         0.972          2.945          0              0              0
  28  Cabinet            -1.187         0.394          3.966          0              0              0
  29  TowelHolder        -0.200         1.160          1.179          0              0              0
  30  GarbageCan         0.209          0.000          3.772          0              0              0
  31  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  32  Window             -0.726         1.667          -0.009         90             0              0
  33  Toilet             -0.039         0.090          1.733          0              270            0
  34  SinkBasin          -1.317         0.998          2.567          0              90             0
  35  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  36  LightSwitch        0.444          1.368          3.323          0              270            0
  37  Faucet             -1.587         0.960          3.513          0              90             0
  38  ShowerHead         -1.618         1.251          0.558          0              180            0
  39  Sink               -1.325         0.960          3.512          0              90             0
  40  SinkBasin          -1.317         0.998          3.513          0              90             0
  41  Faucet             -1.587         0.960          2.569          0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. | STEP 2: Pick up the bottle of soap on the counter. | STEP 3: Walk right and then veer left to the green bin in the corner of the room. | STEP 4: Place the soap bottle in the bin. | END