Task: Put a soap dispenser in the trash.

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          2.25           0              90             0
   1  Cloth              -0.414         0.446          0.163          0              0              0              14
   2  SoapBottle         -1.743         0.772          3.122          0              0              0              15
   3  Towel              -0.07          1.284          0.106          0              0              0              25
   4  HandTowel          -1.731         1.333          3.961          0              0              0              27
   5  SoapBar            -1.825         0.013          2.22           0              0              0              17
   6  ToiletPaper        -1.782         0.064          2.998          0              0              0              23
   7  ToiletPaper        0.132          0.873          3.792          0              0              0              34
   8  Cloth              -1.032         0.074          0.470          0              90             0              16
   9  SprayBottle        -1.747         0.068          2.709          0              0              0              17
  10  Candle             -0.012         0.878          3.792          0              0              0              34
  11  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  12  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  13  SoapBottle         -1.747         0.069          3.212          0              0              0              24
  14  Bathtub            -1.414         -0.002         0.563          0              0              0
  15  CounterTop         -1.799         0.746          3.122          0              0              0
  16  BathtubBasin       -1.613         0.052          0.540          0              0              0
  17  Cabinet            -1.613         0.309          2.493          0              0              0
  18  ShowerDoor         0.527          1.037          2.115          0              0              0
  19  Mirror             -1.993         1.424          3.107          0              0              0
  20  Cabinet            -1.613         0.309          3.754          0              0              0
  21  Faucet             -1.873         0.461          0.641          0              0              0
  22  Sink               -1.834         0.685          2.777          0              90             0
  23  Cabinet            -1.613         0.309          3.105          0              0              0
  24  Cabinet            -1.613         0.309          3.140          0              0              0
  25  TowelHolder        -0.070         1.269          0.0            0              0              0
  26  GarbageCan         0.932          -0.029         3.761          0              0              0
  27  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  28  Window             -1.039         1.393          0.018          90             0              0
  29  Window             -1.986         1.392          0.706          90             90             0
  30  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  31  SinkBasin          -1.795         0.694          2.781          0              90             0
  32  LightSwitch        1.250          1.330          3.621          0              270            0
  33  Toilet             -1.567         -0.000         1.815          0              180            0
  34  Drawer             0.204          0.940          3.807          0              180            0
  35  Dresser            0.204          0.000          3.832          0              180            0
  36  Drawer             0.204          0.160          3.807          0              180            0
  37  Drawer             0.204          0.420          3.807          0              180            0
  38  Drawer             0.204          0.680          3.807          0              180            0
  39  SinkBasin          -1.795         0.694          3.476          0              90             0
  40  Sink               -1.833         0.685          3.472          0              90             0
  41  Faucet             -1.988         0.947          3.472          0              180            0
  42  ShowerHead         0.972          1.222          2.015          0              270            0
  43  Faucet             -1.988         0.947          2.776          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk to the counter that has two sinks. | STEP 2: Pick up the soap dispenser from the counter. | STEP 3: Walk to the end of the counter near the toilet. | STEP 4: Put the soap dispenser in the red trash can. | END