Task: Put a cleaned bar of soap in a garbage bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          -1.0           0              180            0
   1  Candle             -1.799         0.907          -1.739         0              0              0              34
   2  Candle             -1.969         0.907          -1.350         0              0              0              19
   3  SprayBottle        -0.254         0.018          -1.536         0              0              0              22
   4  Towel              0.89           1.368          -1.755         0              0              0              29
   5  HandTowel          -2.028         1.492          -1.482         0              270            0              35
   6  SoapBar            0.753          0.171          -0.818         0              270            0              33
   7  ToiletPaper        -1.199         0.919          0.680          0              180            270            30
   8  ToiletPaper        -1.933         1.041          0.140          0              90             0              37
   9  Cloth              0.938          0.171          -1.392         0              270            0              33
  10  SprayBottle        -1.932         1.045          0.272          0              90             0              37
  11  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  12  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  13  Candle             -1.989         0.907          -1.486         0              0              0              19
  14  SoapBottle         -1.901         0.018          -1.486         0              0              0              25
  15  Cabinet            -1.052         0.340          -1.327         0              0              0
  16  Cabinet            -1.039         0.340          -1.327         0              0              0
  17  ShowerGlass        0.919          1.417          -0.206         0              0              0
  18  Sink               -1.560         0.811          -1.598         0              0              0
  19  CounterTop         -1.041         0.884          -1.531         0              0              0
  20  ShowerDoor         0.451          0.926          0.696          0              0              0
  21  Faucet             -0.505         0.898          -1.779         0              0              0
  22  Cabinet            -0.071         0.340          -1.327         0              0              0
  23  Mirror             -1.014         1.501          -1.840         0              0              0
  24  Bathtub            0.883          0.392          -1.154         0              0              0
  25  Cabinet            -2.020         0.340          -1.327         0              0              0
  26  Sink               -0.526         0.811          -1.598         0              0              0
  27  Window             1.532          1.672          -1.037         0              0              0
  28  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  29  TowelHolder        0.889          1.353          -1.861         0              0              0
  30  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  31  LightSwitch        0.224          1.333          0.762          0              180            0
  32  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  33  BathtubBasin       0.938          0.160          -1.126         0              270            0
  34  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  35  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  36  GarbageCan         0.122          -0.002         -1.558         0              270            0
  37  Toilet             -1.610         -0.000         0.209          0              180            0
  38  Faucet             -1.537         0.898          -1.779         0              0              0
  39  Faucet             0.929          0.509          -1.978         0              0              0
  40  Faucet             0.890          1.689          0.724          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn left and walk to the bath tub. | STEP 2: Pick up the bar of soap from the bath tub. | STEP 3: Turn right and walk to the sink on the left. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it out of the sink. | STEP 5: Walk backwards and slightly to the left towards the garbage bin on the floor. | STEP 6: Put the bar of soap in the garbage bin. | END