Task: Place a rinsed bar of soap in the rubbish bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          0.75           0              270            0
   1  SoapBar            -1.715         0.731          2.726          0              0              0              15
   2  SprayBottle        -1.372         0.732          2.877          0              0              0              15
   3  Candle             -1.798         1.087          0.682          0              90             0              29
   4  HandTowel          -1.961         1.588          1.323          0              270            0              22
   5  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
   6  Towel              0.871          1.172          2.356          0              0              0              20
   7  SoapBottle         -1.458         0.731          2.726          0              0              0              15
   8  SoapBar            -1.735         0.044          1.374          0              180            0              26
   9  ToiletPaper        -1.553         0.624          0.053          0              0              270            25
  10  Cloth              -1.488         0.243          3.329          0              0              0              14
  11  ToiletPaper        -1.629         0.728          2.827          0              0              0              15
  12  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  13  SprayBottle        -1.899         1.047          0.879          0              90             0              29
  14  Drawer             -1.335         0.301          3.329          0              0              0
  15  CounterTop         -1.608         0.701          2.831          0              0              0
  16  ShowerDoor         0.564          1.018          1.115          0              0              0
  17  Drawer             -1.335         0.301          2.132          0              0              0
  18  Mirror             -1.924         1.414          2.759          0              0              0
  19  Sink               -1.695         0.616          2.283          0              90             0
  20  TowelHolder        0.870          1.157          2.25           0              0              0
  21  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  22  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  23  Window             -1.037         1.399          0.019          90             0              0
  24  Window             -1.986         1.396          0.707          90             90             0
  25  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  26  GarbageCan         -1.739         -0.031         1.268          0              90             0
  27  LightSwitch        1.25           1.273          3.634          0              270            0
  28  SinkBasin          -1.674         0.633          2.274          0              270            0
  29  Toilet             -1.547         0.000          0.685          0              180            0
  30  Sink               -1.695         0.616          3.365          0              90             0
  31  SinkBasin          -1.674         0.633          3.355          0              270            0
  32  ShowerHead         0.853          1.797          1.108          0              180            0
  33  Faucet             -1.926         0.721          2.285          0              90             0
  34  Faucet             -1.926         0.721          3.368          0              90             0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn right and move towards the wall then turn left and face the rubbish bin. | STEP 2: Pick up the bar of soap from the rubbish bin. | STEP 3: Turn around and move towards the shower then turn left and move towards the end of the room then turn left and face the counter. | STEP 4: Place the bar of soap in the sink to the right, turn on the faucet, turn off the faucet, and pick up the bar of soap from the sink. | STEP 5: Turn around and move towards the door the turn right and move towards the toilet then turn right to face the toilet. | STEP 6: Place the soap bar in the rubbish bin to the right of the toilet. | END