Task: Put a soap in 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              -1.5           0.903          4.5            0              270            0
   1  Cloth              -0.858         0.164          0.375          0              0              0              34
   2  Cloth              0.699          1.047          4.473          0              270            0              37
   3  SoapBar            -1.214         0.164          0.285          0              0              0              34
   4  SoapBar            0.752          1.054          2.169          0              0              0              28
   5  SoapBar            0.668          1.047          4.342          0              270            0              37
   6  Candle             0.116          1.063          3.040          0              0              0              28
   7  SprayBottle        0.377          0.098          3.460          0              0              0              24
   8  SprayBottle        0.306          0.098          2.352          0              0              0              30
   9  SoapBottle         -2.322         0.707          0.280          0              0              0              25
  10  SoapBottle         0.305          0.101          3.070          0              0              0              24
  11  Towel              -2.393         1.478          0.580          0              90             0              31
  12  Candle             -2.243         0.713          0.572          0              0              0              25
  13  Cloth              -0.680         0.164          0.736          0              0              0              34
  14  HandTowel          0.397          1.656          2.039          0              180            0              35
  15  Plunger            0.480          0.002          4.793          0              0              0
  16  SoapBar            0.645          1.054          2.200          0              0              0              28
  17  ToiletPaper        0.392          1.051          4.116          0              0              0              28
  18  ToiletPaper        -0.047         0.971          4.911          0              180            90             32
  19  SoapBottle         0.760          1.051          4.605          0              270            0              37
  20  SprayBottle        0.452          0.098          2.158          0              0              0              30
  21  ScrubBrush         0.688          0.002          4.867          0              0              0
  22  Sink               0.426          1.037          2.947          0              270            0
  23  Window             -2.548         1.673          2.405          0              0              0
  24  Cabinet            0.068          0.366          3.772          0              0              0
  25  Bathtub            -1.042         0.155          0.558          0              0              0
  26  SinkBasin          0.404          0.926          2.926          0              270            0
  27  Mirror             0.858          1.863          2.972          0              0              0
  28  CounterTop         0.487          1.015          3.090          0              0              0
  29  Faucet             -0.207         0.687          0.546          0              0              0
  30  Cabinet            0.074          0.379          2.045          0              0              0
  31  TowelHolder        -2.5           1.463          0.579          0              90             0
  32  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  33  LightSwitch        -1.121         1.333          5.000          0              180            0
  34  BathtubBasin       -1.062         0.153          0.556          0              0              0
  35  HandTowelHolder    0.398          1.758          2.000          0              270            0
  36  GarbageCan         -0.229         0.001          1.445          0              270            0
  37  Toilet             0.376          0.002          4.470          0              0              0
  38  Faucet             0.661          1.043          3.371          0              270            0
  39  Faucet             0.661          1.043          2.520          0              270            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Move to the sink. | STEP 2: Pick up the soap in the back by the sink.  | STEP 3: Bring the soap to the sink. | STEP 4: Put the soap in the middle of the sink, turn on the water, keeping the soap dry.  | STEP 5: Pick up the soap and bring it to the trash can. | STEP 6: Put the soap in the trash can.  | END