Task: place a paper box 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              -2.75          0.902          1.0            0              90             0
   1  Cloth              -3.948         0.038          0.965          0              0              0              46
   2  TissueBox          -2.391         0.176          -0.683         0              90             0              29
   3  TissueBox          -2.295         0.442          -0.635         0              90             0              28
   4  TissueBox          -1.892         0.704          -0.585         0              90             0              32
   5  SprayBottle        -2.120         0.700          -0.755         0              90             0              32
   6  SprayBottle        -2.575         0.700          -0.471         0              90             0              32
   7  Candle             -2.575         0.702          -0.528         0              90             0              32
   8  SoapBar            -2.159         1.093          2.164          0              180            0              27
   9  DishSponge         -4.034         0.040          0.224          0              0              0              37
  10  DishSponge         -2.347         0.704          -0.642         0              90             0              32
  11  SoapBottle         -0.607         0.957          -0.722         0              90             0              44
  12  Towel              -3.66          1.567          -0.459         0              0              0              39
  13  Candle             -0.669         0.953          -0.668         0              90             0              44
  14  HandTowel          -1.275         1.683          2.244          0              0              0              42
  15  SoapBar            -1.764         1.019          2.039          0              180            0              47
  16  ToiletPaper        -1.380         0.695          -0.751         0              0              0              32
  17  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  18  SprayBottle        -2.803         0.700          -0.642         0              90             0              32
  19  SoapBottle         -3.145         0.615          1.571          0              0              0              37
  20  TissueBox          -1.894         0.176          -0.586         0              90             0              30
  21  ToiletPaper        -1.665         0.700          -0.812         0              90             0              32
  22  PaperTowelRoll     -2.575         0.809          -0.812         0              90             0              32
  23  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  24  Cloth              -3.948         0.038          0.039          0              0              0              46
  25  DishSponge         -1.665         0.704          -0.698         0              90             0              32
  26  Drawer             -1.444         0.531          -0.620         0              90             0
  27  Sink               -1.919         0.441          2.032          0              180            0
  28  Drawer             -2.343         0.531          -0.620         0              90             0
  29  Drawer             -2.343         0.271          -0.620         0              90             0
  30  Drawer             -1.894         0.271          -0.620         0              90             0
  31  Drawer             -2.791         0.271          -0.620         0              90             0
  32  CounterTop         -2.799         0.001          -0.593         0              90             0
  33  Drawer             -1.894         0.531          -0.620         0              90             0
  34  Mirror             -1.909         1.748          2.280          0              0              0
  35  Drawer             -2.791         0.531          -0.620         0              90             0
  36  Drawer             -1.444         0.271          -0.620         0              90             0
  37  Bathtub            -3.706         0.342          0.636          0              0              0
  38  Faucet             -1.919         1.064          2.182          0              180            0
  39  TowelHolder        -3.660         1.552          -0.558         0              0              0
  40  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  41  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  42  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  43  LightSwitch        -0.558         1.282          2.281          0              180            0
  44  Toilet             -0.720         0.001          -0.310         0              0              0
  45  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  46  BathtubBasin       -3.788         0.028          0.595          0              0              0
  47  SinkBasin          -1.908         1.011          1.981          0              180            0
  48  ShowerHead         -3.740         1.858          1.827          0              0              0
  49  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn right and head towards the shelf | STEP 2: pick up the paper box from the top of the cupboard | STEP 3: turn around and head towards the bin | STEP 4: trash the paper box | END