Task: move soap bottle from back of toilet to 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          -2.75          0              0              0
   1  Candle             -2.618         0.080          -1.925         0              0              0              27
   2  Candle             -0.614         1.046          -3.795         0              0              0              35
   3  SoapBar            -2.872         0.078          -0.357         0              0              0              25
   4  SoapBar            -1.617         0.060          -0.139         0              180            0              25
   5  SprayBottle        -2.805         0.996          -2.218         0              0              0              22
   6  SprayBottle        -2.613         0.996          -0.277         0              0              0              22
   7  ToiletPaper        -2.719         0.076          -1.978         0              0              0              21
   8  Towel              -1.051         1.535          -2.887         0              90             0              28
   9  HandTowel          -2.591         1.635          -0.047         0              0              0              30
  10  SoapBar            -2.668         0.078          -1.489         0              0              0              27
  11  ToiletPaper        -0.745         1.042          -3.795         0              0              0              35
  12  ToiletPaper        -0.084         0.902          -3.286         0              270            90             35
  13  SoapBottle         -0.417         1.048          -3.887         0              0              0              35
  14  Candle             -0.614         1.046          -3.918         0              0              0              35
  15  ScrubBrush         -1.048         0.000          -3.830         0              0              0              31
  16  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  17  Cloth              -2.669         0.079          -0.955         0              0              0              23
  18  SprayBottle        -2.719         0.080          -1.116         0              0              0              23
  19  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  20  Mirror             -2.947         1.559          -1.194         0              0              0
  21  Cabinet            -2.504         0.400          -2.208         0              0              0
  22  CounterTop         -2.744         0.986          -1.243         0              0              0
  23  Cabinet            -2.504         0.400          -1.238         0              0              0
  24  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  25  Cabinet            -2.508         0.426          -0.290         0              0              0
  26  Sink               -2.907         0.986          -1.761         0              90             0
  27  Cabinet            -2.508         0.426          -1.260         0              0              0
  28  TowelHolder        -1.158         1.521          -2.887         0              90             0
  29  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  30  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  31  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  32  Window             -0.566         1.730          -4.102         90             0              0
  33  LightSwitch        -1.332         1.391          0.001          0              180            0
  34  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  35  Toilet             -0.319         0.000          -3.533         0              90             0
  36  Faucet             -2.907         0.993          -1.761         0              90             0
  37  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  38  Sink               -2.907         0.986          -0.732         0              90             0
  39  Faucet             -2.907         0.993          -0.731         0              90             0
  40  ShowerHead         -2.868         1.219          -3.223         0              180            0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: turn around to face the toilet | STEP 2: pick up the soap bottle that is on the back of the toilet | STEP 3: turn around, take a few steps, turn left, walk forward, turn right, walk to trash can | STEP 4: put the soap bottle in the trash can | END