Task: Move a bar of soap to 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              -1.0           0.901          1.75           0              0              0
   1  Cloth              -1.570         0.243          1.865          0              0              0              24
   2  Cloth              -1.529         0.244          3.463          0              0              0              21
   3  SoapBar            -1.887         0.731          2.726          0              0              0              22
   4  SoapBar            -1.529         0.238          2.132          0              0              0              24
   5  SoapBar            -1.700         0.641          2.198          0              270            0              35
   6  Candle             -1.715         0.772          2.927          0              0              0              22
   7  Candle             -1.899         1.087          0.616          0              90             0              36
   8  SoapBottle         -1.735         0.045          1.374          0              180            0              33
   9  ToiletPaper        -1.543         0.728          2.776          0              0              0              22
  10  Candle             -1.458         0.772          2.676          0              0              0              22
  11  HandTowel          -1.513         1.461          3.962          0              0              0              28
  12  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  13  Towel              0.871          1.172          2.356          0              0              0              27
  14  SoapBottle         -1.823         1.046          0.813          0              90             0              36
  15  SoapBar            -1.446         0.239          2.533          0              0              0              24
  16  ToiletPaper        -1.823         1.042          0.682          0              90             0              36
  17  Cloth              -1.570         0.244          2.928          0              0              0              21
  18  ToiletPaper        -1.570         0.235          3.195          0              0              0              21
  19  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  20  SprayBottle        -1.715         0.732          2.827          0              0              0              22
  21  Drawer             -1.335         0.301          3.329          0              0              0
  22  CounterTop         -1.608         0.701          2.831          0              0              0
  23  ShowerDoor         0.564          1.018          1.115          0              0              0
  24  Drawer             -1.335         0.301          2.132          0              0              0
  25  Mirror             -1.924         1.414          2.759          0              0              0
  26  Sink               -1.695         0.616          2.283          0              90             0
  27  TowelHolder        0.870          1.157          2.25           0              0              0
  28  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  29  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  30  Window             -1.037         1.399          0.019          90             0              0
  31  Window             -1.986         1.396          0.707          90             90             0
  32  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  33  GarbageCan         -1.739         -0.031         1.268          0              90             0
  34  LightSwitch        1.25           1.273          3.634          0              270            0
  35  SinkBasin          -1.674         0.633          2.274          0              270            0
  36  Toilet             -1.547         0.000          0.685          0              180            0
  37  Sink               -1.695         0.616          3.365          0              90             0
  38  SinkBasin          -1.674         0.633          3.355          0              270            0
  39  ShowerHead         0.853          1.797          1.108          0              180            0
  40  Faucet             -1.926         0.721          2.285          0              90             0
  41  Faucet             -1.926         0.721          3.368          0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Move straight then turn left facing the soap on the counter top between the two sinks | STEP 2: Pick up the bar of soap on the counter | STEP 3: Carry the bar of soap to the left where the trash can is to the right of the toilet | STEP 4: Place the soap in the trash can | END