Task: place a rinsed off bar of soap inside of the 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              -1.25          0.900          2.5            0              270            0
   1  SoapBar            -0.108         0.953          3.721          0              0              0              38
   2  SoapBar            -0.134         0.510          2.901          0              0              0              21
   3  Candle             -0.470         0.205          3.068          0              0              0              22
   4  Candle             -0.225         0.812          1.260          0              0              0              23
   5  SprayBottle        -2.170         0.057          3.843          0              90             0              36
   6  DishSponge         -0.363         0.829          1.627          0              0              0              44
   7  SoapBottle         -0.417         0.813          3.172          0              0              0              23
   8  HandTowel          -0.036         1.658          3.443          0              90             0              37
   9  SoapBar            -0.161         0.812          2.243          0              0              0              23
  10  ToiletPaper        -0.161         0.949          3.846          0              0              0              38
  11  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  12  Candle             -0.161         0.812          3.172          0              0              0              23
  13  SoapBottle         -0.144         0.804          1.325          0              0              0              23
  14  ToiletPaper        -1.156         0.897          3.925          0              180            90             34
  15  SprayBottle        -0.188         0.954          3.471          0              0              0              38
  16  Towel              -1.106         1.151          1.289          0              0              0              35
  17  Cloth              -0.302         0.206          3.012          0              0              0              22
  18  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  19  DishSponge         -0.414         0.513          1.923          0              0              0              24
  20  Sink               -0.299         0.807          2.754          0              270            0
  21  Drawer             -0.319         0.615          3.012          0              0              0
  22  Drawer             -0.319         0.316          3.012          0              0              0
  23  CounterTop         -0.349         0.004          1.453          0              0              0
  24  Drawer             -0.319         0.615          1.978          0              0              0
  25  Drawer             -0.319         0.316          1.978          0              0              0
  26  Drawer             -0.319         0.316          1.463          0              0              0
  27  Drawer             -0.319         0.615          2.495          0              0              0
  28  ShowerDoor         -1.514         0.910          1.167          0              0              0
  29  Drawer             -0.319         0.615          1.463          0              0              0
  30  Drawer             -0.319         0.316          2.495          0              0              0
  31  Faucet             -0.076         0.805          2.757          0              0              0
  32  Mirror             -0.228         0.465          1.453          0              0              0
  33  ShowerGlass        -0.766         0.541          0.485          0              0              0
  34  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  35  TowelHolder        -1.105         1.136          1.183          0              0              0
  36  GarbageCan         -2.041         -0.000         3.724          0              45             0
  37  HandTowelHolder    0.001          1.759          3.443          0              180            0
  38  Toilet             -0.600         -0.000         3.671          0              270            0
  39  LightSwitch        -2.312         1.386          3.296          0              90             0
  40  Faucet             -0.076         0.805          1.733          0              0              0
  41  SinkBasin          -0.304         0.819          2.753          0              0              0
  42  Sink               -0.298         0.807          1.725          0              270            0
  43  ShowerHead         -0.083         1.248          0.522          0              0              0
  44  SinkBasin          -0.304         0.819          1.723          0              0              0
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: turn around and walk forwards to the center of the bathroom sink counter | STEP 2: pick up a bar of soap off of the bathroom sink counter | STEP 3: move to the left a bit to face the bathroom sink on the left | STEP 4: place the bar of soap inside of the sink and rinse it off, then pick it back up | STEP 5: turn around and walk to the end of the room, then hang a right turn and walk over to the garbage bin on the floor at the end of the room | STEP 6: place the bar of soap inside of the garbage bin | END