Task: throw away two soap bars into the trash

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.901          -0.5           0              180            0
   1  Cloth              -2.443         0.806          -3.765         0              0              0              25
   2  SoapBar            -2.532         0.806          -3.591         0              0              0              25
   3  SoapBar            -2.613         0.066          -3.755         0              0              0              23
   4  SoapBar            -2.605         0.872          -3.128         0              90             0              31
   5  SprayBottle        -2.462         0.067          -3.506         0              0              0              23
   6  SoapBottle         -0.160         1.047          -3.180         0              270            0              34
   7  Candle             -2.613         0.075          -3.023         0              0              0              23
   8  Cloth              -2.443         0.806          -2.525         0              0              0              25
   9  HandTowel          -2.962         1.584          -3.550         0              270            0              28
  10  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  11  SoapBar            -2.700         0.872          -3.037         0              90             0              31
  12  ToiletPaper        -0.365         0.054          -3.86          0              0              0              32
  13  ToiletPaper        -0.093         0.842          -2.618         0              270            270            27
  14  Towel              -1.291         1.386          -0.63          0              270            0              26
  15  SoapBottle         -0.129         1.047          -2.917         0              270            0              34
  16  SprayBottle        -2.708         0.807          -3.474         0              0              0              25
  17  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  18  Cabinet            -2.293         0.324          -3.254         0              0              0
  19  Mirror             -3.0           1.659          -3.069         0              0              0
  20  Sink               -2.661         0.785          -3.069         0              90             0
  21  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  22  Cabinet            -2.299         0.345          -2.250         0              0              0
  23  Cabinet            -2.293         0.324          -3.814         0              0              0
  24  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  25  CounterTop         -2.632         0.843          -3.040         0              0              0
  26  TowelHolder        -1.184         1.371          -0.629         0              270            0
  27  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  28  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  29  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  30  Window             -0.567         1.706          -4.002         90             0              0
  31  SinkBasin          -2.669         0.863          -3.063         0              90             0
  32  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  33  LightSwitch        -1.945         1.503          0.000          0              180            0
  34  Toilet             -0.452         0.000          -3.052         0              0              0
  35  Faucet             -3.0           1.167          -3.073         0              180            0
  36  ShowerHead         -0.614         1.934          -0.013         0              0              0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: turn left towards the shower then turn right and walk straight to the sink and turn right | STEP 2: pick up the soap bar inside the sink | STEP 3: turn left and walk to the wall then turn left towards the toilet and look down | STEP 4: throw away the soap bar into the trash can on the floor | STEP 5: turn around and walk towards the sink | STEP 6: pick up the soap bar on the sink counter | STEP 7: turn around and walk straight and look down | STEP 8: throw away the soap bar into the trash on the floor | END