Task: Putting two bars of soap in the sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          -0.5           0              180            0
   1  Cloth              -0.757         0.291          -2.631         0              0              0              34
   2  SprayBottle        -0.086         0.877          -1.380         0              0              0              23
   3  SprayBottle        -2.367         1.046          -0.164         0              90             0              36
   4  Candle             -0.241         0.917          -1.380         0              0              0              23
   5  Candle             -0.059         0.764          -2.490         0              0              0              21
   6  SoapBar            -2.337         1.045          -0.558         0              90             0              36
   7  SoapBar            -2.275         0.052          -1.060         0              90             0              26
   8  SoapBar            -0.197         0.755          -1.461         0              0              0              25
   9  ToiletPaper        -2.398         1.042          -0.558         0              90             0              36
  10  Towel              -2.424         1.541          -2.487         0              90             0              27
  11  Candle             -2.398         1.086          -0.230         0              90             0              36
  12  HandTowel          -2.496         1.836          -0.907         0              270            0              31
  13  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  14  SoapBottle         -2.459         0.723          -2.123         0              0              0              21
  15  SoapBar            -0.174         0.755          -1.314         0              0              0              25
  16  ToiletPaper        -1.490         1.049          -0.110         0              180            90             30
  17  Cloth              -1.013         0.291          -2.631         0              0              0              34
  18  ToiletPaper        -0.241         0.872          -1.219         0              0              0              23
  19  SprayBottle        -2.459         1.046          -0.164         0              90             0              36
  20  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  21  Bathtub            -1.281         0.277          -2.529         0              0              0
  22  Mirror             -2.512         1.764          -1.518         0              0              0
  23  SideTable          -0.153         0.000          -1.465         0              270            0
  24  Sink               -2.273         0.0            -1.519         0              90             0
  25  Drawer             -0.218         0.775          -1.466         0              270            0
  26  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  27  TowelHolder        -2.530         1.526          -2.486         0              90             0
  28  TowelHolder        0.0            1.526          -2.486         0              270            0
  29  LightSwitch        0.0            1.324          -1.146         0              270            0
  30  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  31  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  32  Window             -1.291         1.815          -3.121         90             0              0
  33  SinkBasin          -2.216         0.905          -1.503         0              90             0
  34  SinkBasin          -1.305         0.280          -2.516         0              0              0
  35  HousePlant         -0.108         0.870          -1.649         0              0              0
  36  Toilet             -2.045         0.000          -0.358         0              180            0
  37  Faucet             -2.446         0.940          -1.516         0              90             0
  38  Faucet             -0.132         0.706          -2.877         0              29.999         0
  39  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: Turn right and go to the trash can | STEP 2: Grab the bar of soap out of the trash can | STEP 3: Turn left and go to the sink | STEP 4: Put the soap in the sink | STEP 5: Turn right and go to the toilet | STEP 6: Grab the bar of soap off the top of the toilet | STEP 7: Turn left and go to the sink | STEP 8: Put the soap in the sink | END