Task: Wet a bar of soap and throw it 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              -1.75          0.900          3.25           0              180            0
   1  Candle             -0.289         0.812          2.190          0              0              0              20
   2  DishSponge         -0.363         0.829          1.772          0              0              0              41
   3  DishSponge         -0.358         0.513          1.574          0              0              0              26
   4  SoapBottle         -0.417         0.813          2.350          0              0              0              20
   5  HandTowel          -0.036         1.658          3.443          0              90             0              34
   6  SoapBar            -0.482         0.812          3.172          0              0              0              20
   7  ToiletPaper        -0.180         0.945          3.719          0              0              0              35
   8  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
   9  Candle             -0.188         0.952          3.596          0              0              0              35
  10  SoapBottle         -0.144         0.804          1.325          0              0              0              20
  11  ToiletPaper        -1.156         0.897          3.925          0              180            90             31
  12  SprayBottle        -0.417         0.813          3.172          0              0              0              20
  13  Towel              -1.106         1.151          1.289          0              0              0              32
  14  Cloth              -0.302         0.206          3.012          0              0              0              19
  15  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  16  DishSponge         -0.302         0.208          2.034          0              0              0              27
  17  Sink               -0.299         0.807          2.754          0              270            0
  18  Drawer             -0.319         0.615          3.012          0              0              0
  19  Drawer             -0.319         0.316          3.012          0              0              0
  20  CounterTop         -0.349         0.004          1.453          0              0              0
  21  Drawer             -0.319         0.615          1.978          0              0              0
  22  Drawer             -0.319         0.316          1.978          0              0              0
  23  Drawer             -0.319         0.316          1.463          0              0              0
  24  Drawer             -0.319         0.615          2.495          0              0              0
  25  ShowerDoor         -1.514         0.910          1.167          0              0              0
  26  Drawer             -0.319         0.615          1.463          0              0              0
  27  Drawer             -0.319         0.316          2.495          0              0              0
  28  Faucet             -0.076         0.805          2.757          0              0              0
  29  Mirror             -0.228         0.465          1.453          0              0              0
  30  ShowerGlass        -0.766         0.541          0.485          0              0              0
  31  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  32  TowelHolder        -1.105         1.136          1.183          0              0              0
  33  GarbageCan         -2.041         -0.000         3.724          0              45             0
  34  HandTowelHolder    0.001          1.759          3.443          0              180            0
  35  Toilet             -0.600         -0.000         3.671          0              270            0
  36  LightSwitch        -2.312         1.386          3.296          0              90             0
  37  Faucet             -0.076         0.805          1.733          0              0              0
  38  SinkBasin          -0.304         0.819          2.753          0              0              0
  39  Sink               -0.298         0.807          1.725          0              270            0
  40  ShowerHead         -0.083         1.248          0.522          0              0              0
  41  SinkBasin          -0.304         0.819          1.723          0              0              0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Turn to your left | STEP 2: Pick up a bar of soap off of the counter | STEP 3: Move to your right and then face left towards the sinks | STEP 4: Drop the soap in the sink and then run the faucet for a few seconds before picking the soap back up | STEP 5: Turn around and then head all the way to your right | STEP 6: Drop the bar of soap in trash can | END