Task: Put two bars of 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              -0.75          0.901          2.0            0              90             0
   1  SoapBar            -1.873         1.045          0.616          0              90             0              34
   2  SoapBar            -1.612         0.238          1.731          0              0              0              22
   3  SoapBar            -1.372         0.731          2.726          0              0              0              20
   4  Candle             -1.715         0.772          2.676          0              0              0              20
   5  SprayBottle        -1.670         0.043          1.348          0              180            0              31
   6  SprayBottle        -1.873         1.047          0.879          0              90             0              34
   7  ToiletPaper        -1.458         0.728          2.827          0              0              0              20
   8  Candle             -1.899         1.087          0.485          0              90             0              34
   9  HandTowel          -1.961         1.588          1.323          0              270            0              27
  10  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  11  Towel              0.871          1.172          2.356          0              0              0              25
  12  SoapBottle         -1.801         0.731          2.776          0              0              0              20
  13  SoapBar            -1.629         0.731          2.776          0              0              0              20
  14  ToiletPaper        -1.529         0.235          2.400          0              0              0              22
  15  Cloth              -1.570         0.244          2.928          0              0              0              19
  16  ToiletPaper        -1.887         0.728          2.827          0              0              0              20
  17  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  18  SprayBottle        -1.823         1.047          0.748          0              90             0              34
  19  Drawer             -1.335         0.301          3.329          0              0              0
  20  CounterTop         -1.608         0.701          2.831          0              0              0
  21  ShowerDoor         0.564          1.018          1.115          0              0              0
  22  Drawer             -1.335         0.301          2.132          0              0              0
  23  Mirror             -1.924         1.414          2.759          0              0              0
  24  Sink               -1.695         0.616          2.283          0              90             0
  25  TowelHolder        0.870          1.157          2.25           0              0              0
  26  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  27  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  28  Window             -1.037         1.399          0.019          90             0              0
  29  Window             -1.986         1.396          0.707          90             90             0
  30  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  31  GarbageCan         -1.739         -0.031         1.268          0              90             0
  32  LightSwitch        1.25           1.273          3.634          0              270            0
  33  SinkBasin          -1.674         0.633          2.274          0              270            0
  34  Toilet             -1.547         0.000          0.685          0              180            0
  35  Sink               -1.695         0.616          3.365          0              90             0
  36  SinkBasin          -1.674         0.633          3.355          0              270            0
  37  ShowerHead         0.853          1.797          1.108          0              180            0
  38  Faucet             -1.926         0.721          2.285          0              90             0
  39  Faucet             -1.926         0.721          3.368          0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around and face the counter with the double sink. | STEP 2: Locate the bar of soap farthest back and pick it up. | STEP 3: Go left and turn towards the toilet. | STEP 4: Put the soap in the gray trash can next to the toilet. | STEP 5: Move left, to the left side of the toilet. | STEP 6: Pick up the soap from the back of the toilet. | STEP 7: Step to the right and face the gray trash can. | STEP 8: Put the soap in the trash can. | END