Task: Putting two bottles 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              -1.5           0.901          -1.75          0              90             0
   1  SoapBar            -2.605         0.872          -3.067         0              90             0              29
   2  SoapBar            -2.613         0.066          -3.506         0              0              0              21
   3  SoapBottle         -2.708         0.808          -3.591         0              0              0              23
   4  SoapBottle         -0.129         1.047          -2.917         0              270            0              32
   5  Candle             -2.613         0.075          -2.494         0              0              0              20
   6  Cloth              -2.462         0.066          -3.506         0              0              0              21
   7  HandTowel          -2.962         1.584          -2.569         0              270            0              27
   8  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
   9  SoapBar            -2.689         0.066          -2.964         0              0              0              16
  10  ToiletPaper        -2.355         0.803          -3.474         0              0              0              23
  11  ToiletPaper        -2.708         0.803          -2.590         0              0              0              23
  12  Towel              -1.291         1.386          -0.63          0              270            0              24
  13  SoapBottle         -2.532         0.808          -3.591         0              0              0              23
  14  SprayBottle        -0.129         1.046          -3.114         0              270            0              32
  15  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  16  Cabinet            -2.293         0.324          -3.254         0              0              0
  17  Mirror             -3.0           1.659          -3.069         0              0              0
  18  Sink               -2.661         0.785          -3.069         0              90             0
  19  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  20  Cabinet            -2.299         0.345          -2.250         0              0              0
  21  Cabinet            -2.293         0.324          -3.814         0              0              0
  22  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  23  CounterTop         -2.632         0.843          -3.040         0              0              0
  24  TowelHolder        -1.184         1.371          -0.629         0              270            0
  25  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  26  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  27  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  28  Window             -0.567         1.706          -4.002         90             0              0
  29  SinkBasin          -2.669         0.863          -3.063         0              90             0
  30  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  31  LightSwitch        -1.945         1.503          0.000          0              180            0
  32  Toilet             -0.452         0.000          -3.052         0              0              0
  33  Faucet             -3.0           1.167          -3.073         0              180            0
  34  ShowerHead         -0.614         1.934          -0.013         0              0              0
  35  EastWall
  36  EastWall
  37  SouthWall

Plan:
STEP 1: Turn around and go to the left of the sink | STEP 2: Grab the bottle of soap off of the counter | STEP 3: Turn around and go to the trash can | STEP 4: Put the bottle in the trash can | STEP 5: Turn around and go to the left of the sink | STEP 6: Grab the bottle of soap off of the counter | STEP 7: Turn around and go to the trash can | STEP 8: Put the bottle in the trash can | END