Task: Put a bottle in a 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              -1.25          0.900          3.5            0              90             0
   1  SprayBottle        -0.353         0.813          2.350          0              0              0              19
   2  SprayBottle        -0.134         0.954          3.471          0              0              0              34
   3  DishSponge         -0.482         0.813          2.243          0              0              0              19
   4  HandTowel          -0.036         1.658          3.443          0              90             0              33
   5  SoapBar            -0.358         0.512          1.352          0              0              0              25
   6  ToiletPaper        -0.180         0.945          3.719          0              0              0              34
   7  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
   8  Candle             -0.417         0.812          1.401          0              0              0              19
   9  SoapBottle         -0.144         0.804          1.325          0              0              0              19
  10  ToiletPaper        -0.134         0.507          2.090          0              0              0              20
  11  SprayBottle        -0.161         0.954          3.596          0              0              0              34
  12  Towel              -1.106         1.151          1.289          0              0              0              31
  13  Cloth              -0.225         0.812          3.201          0              0              0              19
  14  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  15  DishSponge         -0.300         0.829          2.802          0              0              0              37
  16  Sink               -0.299         0.807          2.754          0              270            0
  17  Drawer             -0.319         0.615          3.012          0              0              0
  18  Drawer             -0.319         0.316          3.012          0              0              0
  19  CounterTop         -0.349         0.004          1.453          0              0              0
  20  Drawer             -0.319         0.615          1.978          0              0              0
  21  Drawer             -0.319         0.316          1.978          0              0              0
  22  Drawer             -0.319         0.316          1.463          0              0              0
  23  Drawer             -0.319         0.615          2.495          0              0              0
  24  ShowerDoor         -1.514         0.910          1.167          0              0              0
  25  Drawer             -0.319         0.615          1.463          0              0              0
  26  Drawer             -0.319         0.316          2.495          0              0              0
  27  Faucet             -0.076         0.805          2.757          0              0              0
  28  Mirror             -0.228         0.465          1.453          0              0              0
  29  ShowerGlass        -0.766         0.541          0.485          0              0              0
  30  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  31  TowelHolder        -1.105         1.136          1.183          0              0              0
  32  GarbageCan         -2.041         -0.000         3.724          0              45             0
  33  HandTowelHolder    0.001          1.759          3.443          0              180            0
  34  Toilet             -0.600         -0.000         3.671          0              270            0
  35  LightSwitch        -2.312         1.386          3.296          0              90             0
  36  Faucet             -0.076         0.805          1.733          0              0              0
  37  SinkBasin          -0.304         0.819          2.753          0              0              0
  38  Sink               -0.298         0.807          1.725          0              270            0
  39  ShowerHead         -0.083         1.248          0.522          0              0              0
  40  SinkBasin          -0.304         0.819          1.723          0              0              0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: Go right and then turn to the left to face the sink. | STEP 2: Pick the bottle up from the right side of the sink. | STEP 3: Go left and face the trash can in the corner. | STEP 4: Put the bottle in the trash can. | END