Task: Place a soap pump into a garbage bin

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          0.5            0              180            0
   1  Candle             0.520          0.590          -1.795         0              0              0              23
   2  SoapBottle         -1.901         0.018          -1.537         0              0              0              24
   3  Towel              0.89           1.368          -1.755         0              0              0              28
   4  HandTowel          -2.028         1.492          -1.482         0              270            0              34
   5  SoapBar            -0.949         0.908          -1.418         0              0              0              18
   6  ToiletPaper        -0.801         0.905          -1.768         0              0              0              18
   7  ToiletPaper        -1.199         0.919          0.680          0              180            270            29
   8  Cloth              -1.932         1.044          0.337          0              90             0              36
   9  SprayBottle        -1.088         0.910          -1.690         0              0              0              18
  10  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  11  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  12  Candle             0.497          0.590          -1.748         0              0              0              23
  13  SoapBottle         -0.430         0.019          -1.435         0              0              0              21
  14  Cabinet            -1.052         0.340          -1.327         0              0              0
  15  Cabinet            -1.039         0.340          -1.327         0              0              0
  16  ShowerGlass        0.919          1.417          -0.206         0              0              0
  17  Sink               -1.560         0.811          -1.598         0              0              0
  18  CounterTop         -1.041         0.884          -1.531         0              0              0
  19  ShowerDoor         0.451          0.926          0.696          0              0              0
  20  Faucet             -0.505         0.898          -1.779         0              0              0
  21  Cabinet            -0.071         0.340          -1.327         0              0              0
  22  Mirror             -1.014         1.501          -1.840         0              0              0
  23  Bathtub            0.883          0.392          -1.154         0              0              0
  24  Cabinet            -2.020         0.340          -1.327         0              0              0
  25  Sink               -0.526         0.811          -1.598         0              0              0
  26  Window             1.532          1.672          -1.037         0              0              0
  27  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  28  TowelHolder        0.889          1.353          -1.861         0              0              0
  29  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  30  LightSwitch        0.224          1.333          0.762          0              180            0
  31  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  32  BathtubBasin       0.938          0.160          -1.126         0              270            0
  33  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  34  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  35  GarbageCan         0.122          -0.002         -1.558         0              270            0
  36  Toilet             -1.610         -0.000         0.209          0              180            0
  37  Faucet             -1.537         0.898          -1.779         0              0              0
  38  Faucet             0.929          0.509          -1.978         0              0              0
  39  Faucet             0.890          1.689          0.724          0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Take a step to the left and then head across the room to the sink on the left | STEP 2: Open the left side cabinet under the left sink and pick up the soap pump | STEP 3: Turn around and take a step, then turn back around and face the garbage bin to the left of the sink | STEP 4: Place the soap pump into the garbage bin | END