Task: Place soap into a bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              0              0
   1  Kettle          0.071          0.107          0.320          0              0              0              59
   2  Kettle          1.007          0.962          0.561          0              270            0              51
   3  Potato          -0.427         0.100          0.569          0              90             0              78
   4  DishSponge      -0.175         0.911          -1.406         0              0              0              49
   5  ButterKnife     0.649          0.919          -1.582         0              270            0              47
   6  Fork            -2.065         0.952          0.345          0              90             0              82
   7  Spatula         1.907          0.927          0.706          0              270            0              64
   8  Spatula         0.035          0.927          0.375          0              180            0              48
   9  Egg             -1.791         0.987          0.345          0              90             0              82
  10  Egg             -2.065         0.987          0.165          0              90             0              82
  11  Plate           -0.451         0.913          -1.820         0              0              0              49
  12  Knife           0.009          0.937          -1.654         0              90             0              49
  13  Tomato          -1.791         1.001          0.524          0              90             0              82
  14  Bowl            1.658          0.911          -1.654         0              0              0              49
  15  SaltShaker      -2.065         0.948          0.704          0              90             0              82
  16  Lettuce         -2.203         1.042          0.255          0              90             0              82
  17  Lettuce         -1.928         1.042          0.255          0              90             0              82
  18  Mug             1.867          0.103          0.311          0              0              0              57
  19  Mug             -2.135         1.487          -1.677         0              0              0              79
  20  Bread           1.299          0.978          -1.532         0              0              0              49
  21  Knife           -2.340         0.977          0.435          0              180            0              82
  22  Fork            0.167          0.912          0.209          0              0              0              48
  23  Bowl            1.785          0.911          0.292          0              0              0              64
  24  Kettle          1.361          0.962          0.294          0              180            0              44
  25  Cup             0.306          0.774          -1.745         0              270            0              72
  26  Tomato          0.804          0.968          -1.649         0              270            0              47
  27  SoapBottle      -1.928         0.950          0.704          0              90             0              82
  28  Plate           -2.614         0.953          0.345          0              90             0              82
  29  Pot             -2.383         0.94           0.583          0              0              0              82
  30  Spatula         -1.928         0.967          0.345          0              90             0              82
  31  PaperTowelRoll  -2.614         1.056          0.704          0              90             0              82
  32  Egg             -0.362         0.105          0.525          0              90             0              78
  33  Lettuce         1.785          1.002          0.623          0              0              0              64
  34  SaltShaker      0.564          0.908          0.209          0              0              0              48
  35  PepperShaker    0.621          0.106          0.383          0              0              0              60
  36  Apple           -1.791         1.019          0.704          0              90             0              82
  37  ButterKnife     0.960          0.919          -1.582         0              270            0              47
  38  Potato          0.804          0.949          -1.782         0              270            0              47
  39  Pan             1.022          0.959          0.288          0              219.190        0              61
  40  DishSponge      0.908          0.919          -1.449         0              270            0              47
  41  Spoon           -1.791         0.953          0.435          0              180            0              82
  42  Mug             -1.027         1.010          -1.803         0              90             0              71
  43  Cabinet         -0.193         1.688          -1.648         0              180            0
  44  StoveBurner     1.360          0.957          0.293          0              180            0
  45  Drawer          0.499          0.792          0.296          0              0              0
  46  Cabinet         0.095          0.400          -1.352         0              180            0
  47  Sink            0.711          0.817          -1.772         0              270            0
  48  CounterTop      0.280          0.947          0.458          0              0              0
  49  CounterTop      -0.680         0.947          -1.654         0              0              0
  50  Drawer          1.825          0.792          0.296          0              0              0
  51  StoveBurner     1.007          0.957          0.561          0              270            0
  52  Drawer          -0.150         0.792          -1.496         0              0              0
  53  Drawer          -0.586         0.792          -1.496         0              0              0
  54  StoveBurner     1.360          0.957          0.561          0              270            0
  55  Drawer          0.024          0.792          0.296          0              0              0
  56  Cabinet         1.079          0.400          -1.349         0              180            0
  57  Cabinet         1.669          0.402          0.151          0              0              0
  58  Cabinet         0.055          0.402          -1.351         0              0              0
  59  Cabinet         -0.180         0.402          0.151          0              0              0
  60  Cabinet         0.729          0.402          0.151          0              0              0
  61  StoveBurner     1.007          0.957          0.293          0              180            0
  62  Drawer          -1.100         0.792          -1.496         0              0              0
  63  Cabinet         -0.396         0.402          -1.351         0              0              0
  64  CounterTop      1.776          0.947          0.458          0              0              0
  65  Cabinet         1.974          1.688          -1.648         0              180            0
  66  Cabinet         -0.820         0.400          -1.349         0              180            0
  67  Toaster         0.305          0.900          0.552          0              180            0
  68  LightSwitch     -2.756         1.307          -0.987         0              90             0
  69  Window          0.582          1.613          -1.967         90             0              0
  70  Window          1.969          1.5            -0.615         90             270            0
  71  Microwave       -1.037         0.900          -1.723         0              0              0
  72  SinkBasin       0.377          0.765          -1.655         0              270            0
  73  CoffeeMachine   0.618          0.900          0.600          0              180            0
  74  StoveKnob       1.246          0.913          0.118          45             180            0
  75  StoveKnob       1.373          0.913          0.118          45             180            0
  76  StoveKnob       0.995          0.913          0.118          45             180            0
  77  StoveKnob       1.126          0.913          0.118          45             180            0
  78  GarbageCan      -0.368         -0.029         0.539          0              90             0
  79  Fridge          -2.134         0.0            -1.690         0              0              0
  80  Faucet          0.549          1.046          -1.833         0              232.527        0
  81  Stool           -1.475         0.000          0.414          1.233          280.375        0
  82  DiningTable     -2.255         -0.004         0.432          0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left, move to the end of the table. | STEP 2: Pick up the soap from the table. | STEP 3: Turn right, move to the green bin at the end of the counter. | STEP 4: Put the soap in the green bin. | END