Task: Throw two bars of soap into the trash can.

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          -0.25          0              270            0
   1  SoapBar            -0.221         0.755          -1.680         0              0              0              19
   2  SoapBar            -0.079         0.722          -2.151         0              0              0              15
   3  ToiletPaper        -0.125         0.872          -1.461         0              0              0              17
   4  Towel              -2.424         1.541          -2.487         0              90             0              21
   5  Candle             -2.483         0.764          -2.180         0              0              0              15
   6  HandTowel          -2.496         1.836          -0.907         0              270            0              25
   7  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
   8  SoapBottle         -0.241         0.876          -1.300         0              0              0              17
   9  SoapBar            -0.757         0.290          -2.344         0              0              0              28
  10  ToiletPaper        -2.402         1.036          -0.173         0              0              0              30
  11  Cloth              -2.398         1.045          -0.361         0              90             0              30
  12  ToiletPaper        -1.490         1.049          -0.110         0              180            90             24
  13  SprayBottle        -0.241         0.877          -1.461         0              0              0              17
  14  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  15  Bathtub            -1.281         0.277          -2.529         0              0              0
  16  Mirror             -2.512         1.764          -1.518         0              0              0
  17  SideTable          -0.153         0.000          -1.465         0              270            0
  18  Sink               -2.273         0.0            -1.519         0              90             0
  19  Drawer             -0.218         0.775          -1.466         0              270            0
  20  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  21  TowelHolder        -2.530         1.526          -2.486         0              90             0
  22  TowelHolder        0.0            1.526          -2.486         0              270            0
  23  LightSwitch        0.0            1.324          -1.146         0              270            0
  24  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  25  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  26  Window             -1.291         1.815          -3.121         90             0              0
  27  SinkBasin          -2.216         0.905          -1.503         0              90             0
  28  SinkBasin          -1.305         0.280          -2.516         0              0              0
  29  HousePlant         -0.108         0.870          -1.649         0              0              0
  30  Toilet             -2.045         0.000          -0.358         0              180            0
  31  Faucet             -2.446         0.940          -1.516         0              90             0
  32  Faucet             -0.132         0.706          -2.877         0              29.999         0
  33  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  34  EastWall
  35  EastWall
  36  SouthWall

Plan:
STEP 1: Turn left, go across the room and turn left towards the black table. | STEP 2: Pick up the soap on the edge of the bathtub. | STEP 3: Turn left, go halfway across the room and turn left towards the green trash can. | STEP 4: Throw the soap into the trash can. | STEP 5: Turn left and go back to the bathtub. | STEP 6: Pick up the soap from the bottom of the bathtub. | STEP 7: Turn right, go across half the room and then turn left towards the trash can. | STEP 8: Throw the soap into the trash can. | END