Task: Place the bar of soap in the garbage can.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          1.25           0              90             0
   1  TissueBox          -0.401         0.507          0.182          0              90             0              31
   2  SoapBar            -3.571         0.220          0.939          0              0              0              43
   3  SoapBar            -1.951         0.508          0.350          0              90             0              33
   4  SoapBar            -0.179         0.508          0.350          0              90             0              22
   5  Candle             -1.673         0.507          0.462          0              90             0              29
   6  Candle             -1.895         0.506          0.126          0              90             0              27
   7  SoapBottle         -1.853         0.809          0.286          0              90             0              27
   8  ToiletPaper        -2.247         0.950          2.389          0              180            0              41
   9  Towel              -2.554         0.873          0.106          0              0              0              35
  10  Cloth              -1.324         0.505          0.182          0              270            0              32
  11  Candle             -2.220         0.953          2.452          0              180            0              41
  12  HandTowel          -0.038         1.68           2.956          0              90             0              38
  13  SoapBar            -0.836         0.036          3.170          0              204.683        0              42
  14  ToiletPaper        -0.290         0.199          0.294          0              90             0              22
  15  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  16  SprayBottle        -0.805         0.805          0.417          0              90             0              27
  17  TissueBox          -0.281         0.808          0.155          0              90             0              27
  18  ToiletPaper        -2.327         0.951          2.39           0              180            0              41
  19  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  20  SoapBottle         -0.200         0.983          3.184          0              180            0              23
  21  Drawer             -1.324         0.312          0.311          0              90             0
  22  Drawer             -0.290         0.312          0.311          0              90             0
  23  Sink               -0.463         -0.013         3.046          0              180            0
  24  Mirror             -0.504         1.741          3.304          0              0              0
  25  Drawer             -0.808         0.611          0.311          0              90             0
  26  Drawer             -0.808         0.312          0.311          0              90             0
  27  CounterTop         -1.850         0.001          0.342          0              90             0
  28  Bathtub            -3.499         0.148          0.939          0              0              0
  29  Drawer             -1.840         0.312          0.311          0              90             0
  30  Faucet             -0.463         0.969          3.212          0              180            0
  31  Drawer             -0.290         0.611          0.311          0              90             0
  32  Drawer             -1.324         0.611          0.311          0              90             0
  33  Drawer             -1.840         0.611          0.311          0              90             0
  34  TowelHolder        -2.553         1.582          0.0            0              0              0
  35  TowelHolder        -2.553         0.859          0.0            0              0              0
  36  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  37  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  38  HandTowelHolder    0.0            1.781          2.956          0              180            0
  39  LightSwitch        0.0            1.368          1.993          0              270            0
  40  Window             -4.083         1.735          1.162          90             270            0
  41  Toilet             -1.835         0.000          2.503          0              90             0
  42  SinkBasin          -0.452         0.888          2.969          0              180            0
  43  BathtubBasin       -3.518         0.210          0.939          0              0              0
  44  ShowerHead         -3.540         1.821          1.820          0              0              0
  45  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn to your left and go to the garbage can, on the floor, to the right of the sink.  | STEP 2: Pull out a bar of soap from the garbage can.  | STEP 3: Turn to the sink on your right.  | STEP 4: Place the bar of soap in the sink, turn the water on, rinse the sink, turn the water off, and remove the bar of soap from the sink.  | STEP 5: Turn back to the garbage can to your right, and beneath you.  | STEP 6: Place the bar of soap back into the garbage can on the floor.   | END