Task: Move a soap dispenser from the counter to the trashcan.

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           0.900          -0.75          0              90             0
   1  Kettle          1.828          1.329          -1.772         0              180            0              63
   2  Kettle          -2.340         0.953          0.524          0              90             0              80
   3  ButterKnife     -2.614         0.952          0.345          0              270            0              80
   4  ButterKnife     -1.791         0.952          0.614          0              90             0              80
   5  Pot             1.007          0.962          0.561          0              270            0              49
   6  Fork            0.856          0.920          -1.649         0              90             0              45
   7  Spatula         1.658          0.927          -1.489         0              0              0              47
   8  Spatula         1.781          0.927          -1.903         0              90             0              47
   9  Plate           -1.959         0.512          -1.720         0              0              0              77
  10  Plate           -2.203         0.953          0.255          0              90             0              80
  11  Knife           -1.928         0.977          0.255          0              90             0              80
  12  Tomato          -2.614         1.001          0.524          0              90             0              80
  13  PepperShaker    -0.634         0.107          -1.471         0              0              0              61
  14  PepperShaker    1.658          0.908          -1.489         0              0              0              47
  15  Lettuce         -2.065         1.042          0.524          0              90             0              80
  16  Mug             0.167          0.907          0.375          0              0              0              46
  17  Mug             -0.923         1.010          -1.737         0              0              0              69
  18  Bread           1.535          0.995          -1.820         0              0              0              47
  19  Knife           0.701          0.944          -1.582         0              270            0              45
  20  Fork            0.035          0.912          0.292          0              180            0              46
  21  Bowl            0.332          0.108          -1.509         0              180            0              44
  22  Kettle          1.663          0.913          0.623          0              0              0              62
  23  Cup             0.564          0.910          0.209          0              0              0              46
  24  Tomato          -2.135         1.101          -1.677         0              0              0              77
  25  SoapBottle      1.846          0.910          0.706          0              0              0              62
  26  Plate           -2.31          0.512          -1.720         0              0              0              77
  27  Pot             1.361          0.962          0.561          0              270            0              52
  28  Spatula         0.009          0.927          -1.571         0              0              0              47
  29  PaperTowelRoll  -0.427         0.174          0.396          0              90             0              76
  30  Egg             0.271          0.811          -1.745         0              270            0              70
  31  Lettuce         1.724          1.002          0.375          0              0              0              62
  32  SaltShaker      1.846          0.908          0.209          0              0              0              62
  33  PepperShaker    0.167          0.908          0.292          0              0              0              46
  34  Apple           -0.394         0.137          0.612          0              90             0              76
  35  ButterKnife     -2.203         0.952          0.435          0              90             0              80
  36  Potato          0.753          0.949          -1.715         0              270            0              45
  37  Pan             1.022          0.959          0.288          0              219.190        0              59
  38  DishSponge      -0.359         0.911          -1.737         0              0              0              47
  39  Spoon           -2.065         0.953          0.614          0              90             0              80
  40  Mug             0.618          0.945          0.469          0              180            0              71
  41  Cabinet         -0.193         1.688          -1.648         0              180            0
  42  StoveBurner     1.360          0.957          0.293          0              180            0
  43  Drawer          0.499          0.792          0.296          0              0              0
  44  Cabinet         0.095          0.400          -1.352         0              180            0
  45  Sink            0.711          0.817          -1.772         0              270            0
  46  CounterTop      0.280          0.947          0.458          0              0              0
  47  CounterTop      -0.680         0.947          -1.654         0              0              0
  48  Drawer          1.825          0.792          0.296          0              0              0
  49  StoveBurner     1.007          0.957          0.561          0              270            0
  50  Drawer          -0.150         0.792          -1.496         0              0              0
  51  Drawer          -0.586         0.792          -1.496         0              0              0
  52  StoveBurner     1.360          0.957          0.561          0              270            0
  53  Drawer          0.024          0.792          0.296          0              0              0
  54  Cabinet         1.079          0.400          -1.349         0              180            0
  55  Cabinet         1.669          0.402          0.151          0              0              0
  56  Cabinet         0.055          0.402          -1.351         0              0              0
  57  Cabinet         -0.180         0.402          0.151          0              0              0
  58  Cabinet         0.729          0.402          0.151          0              0              0
  59  StoveBurner     1.007          0.957          0.293          0              180            0
  60  Drawer          -1.100         0.792          -1.496         0              0              0
  61  Cabinet         -0.396         0.402          -1.351         0              0              0
  62  CounterTop      1.776          0.947          0.458          0              0              0
  63  Cabinet         1.974          1.688          -1.648         0              180            0
  64  Cabinet         -0.820         0.400          -1.349         0              180            0
  65  Toaster         0.305          0.900          0.552          0              180            0
  66  LightSwitch     -2.756         1.307          -0.987         0              90             0
  67  Window          0.582          1.613          -1.967         90             0              0
  68  Window          1.969          1.5            -0.615         90             270            0
  69  Microwave       -1.037         0.900          -1.723         0              0              0
  70  SinkBasin       0.377          0.765          -1.655         0              270            0
  71  CoffeeMachine   0.618          0.900          0.600          0              180            0
  72  StoveKnob       1.246          0.913          0.118          45             180            0
  73  StoveKnob       1.373          0.913          0.118          45             180            0
  74  StoveKnob       0.995          0.913          0.118          45             180            0
  75  StoveKnob       1.126          0.913          0.118          45             180            0
  76  GarbageCan      -0.368         -0.029         0.539          0              90             0
  77  Fridge          -2.134         0.0            -1.690         0              0              0
  78  Faucet          0.549          1.046          -1.833         0              232.527        0
  79  Stool           -1.475         0.000          0.414          1.233          280.375        0
  80  DiningTable     -2.255         -0.004         0.432          0              0              0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn and go to the counter by the stove. | STEP 2: Pick up the soap dispenser.  | STEP 3: Turn and go to the trash can. | STEP 4: Put the soap dispenser in the trash can.  | END