Task: Move a bottle of soap from a counter top to a garbage can.

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          2.5            0              180            0
   1  Cloth              -0.246         0.206          2.495          0              0              0              33
   2  Cloth              -0.246         0.511          1.408          0              0              0              32
   3  SoapBar            -0.246         0.512          2.957          0              0              0              24
   4  SoapBar            -0.414         0.510          1.463          0              0              0              32
   5  Candle             -0.215         0.952          3.533          0              0              0              41
   6  Candle             -0.289         0.812          2.403          0              0              0              26
   7  SprayBottle        -0.417         0.813          3.230          0              0              0              26
   8  DishSponge         -0.188         0.954          3.783          0              0              0              41
   9  DishSponge         -0.161         0.954          3.658          0              0              0              41
  10  ToiletPaper        -0.302         0.507          3.012          0              0              0              24
  11  HandTowel          -0.036         1.658          3.443          0              90             0              40
  12  SoapBar            -0.414         0.206          1.630          0              0              0              29
  13  ToiletPaper        -0.289         0.809          1.288          0              0              0              26
  14  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  15  Candle             -0.353         0.812          2.243          0              0              0              26
  16  SoapBottle         -0.144         0.804          1.325          0              0              0              26
  17  ToiletPaper        -1.156         0.897          3.925          0              180            90             37
  18  SprayBottle        -0.482         0.813          2.137          0              0              0              26
  19  Towel              -1.106         1.151          1.289          0              0              0              38
  20  Cloth              -0.358         0.205          1.408          0              0              0              32
  21  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  22  DishSponge         -0.363         0.829          2.850          0              0              0              44
  23  Sink               -0.299         0.807          2.754          0              270            0
  24  Drawer             -0.319         0.615          3.012          0              0              0
  25  Drawer             -0.319         0.316          3.012          0              0              0
  26  CounterTop         -0.349         0.004          1.453          0              0              0
  27  Drawer             -0.319         0.615          1.978          0              0              0
  28  Drawer             -0.319         0.316          1.978          0              0              0
  29  Drawer             -0.319         0.316          1.463          0              0              0
  30  Drawer             -0.319         0.615          2.495          0              0              0
  31  ShowerDoor         -1.514         0.910          1.167          0              0              0
  32  Drawer             -0.319         0.615          1.463          0              0              0
  33  Drawer             -0.319         0.316          2.495          0              0              0
  34  Faucet             -0.076         0.805          2.757          0              0              0
  35  Mirror             -0.228         0.465          1.453          0              0              0
  36  ShowerGlass        -0.766         0.541          0.485          0              0              0
  37  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  38  TowelHolder        -1.105         1.136          1.183          0              0              0
  39  GarbageCan         -2.041         -0.000         3.724          0              45             0
  40  HandTowelHolder    0.001          1.759          3.443          0              180            0
  41  Toilet             -0.600         -0.000         3.671          0              270            0
  42  LightSwitch        -2.312         1.386          3.296          0              90             0
  43  Faucet             -0.076         0.805          1.733          0              0              0
  44  SinkBasin          -0.304         0.819          2.753          0              0              0
  45  Sink               -0.298         0.807          1.725          0              270            0
  46  ShowerHead         -0.083         1.248          0.522          0              0              0
  47  SinkBasin          -0.304         0.819          1.723          0              0              0
  48  NorthWall
  49  SouthWall
  50  SouthWall

Plan:
STEP 1: Walk forward to the towel, then turn left and walk forward to the sink. | STEP 2: Pick up the bottle of soap from the counter near the toilet paper. | STEP 3: Turn around, walk to the wall, then turn right and walk to the garbage can on the floor in the corner. | STEP 4: Put the bottle of soap in the garbage can. | END