Task: Throw the two soaps into 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              0.25           0.901          0.5            0              180            0
   1  SoapBar            -1.801         0.731          2.977          0              0              0              20
   2  Candle             -1.798         1.087          0.879          0              90             0              34
   3  SprayBottle        -1.798         1.047          0.616          0              90             0              34
   4  SoapBottle         -1.372         0.731          2.726          0              0              0              20
   5  SoapBottle         -1.848         1.046          0.748          0              90             0              34
   6  HandTowel          -1.961         1.588          1.323          0              270            0              27
   7  ToiletPaper        -1.458         0.728          2.827          0              0              0              20
   8  Candle             -1.887         0.772          2.676          0              0              0              20
   9  HandTowel          -1.513         1.461          3.962          0              0              0              26
  10  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  11  Towel              0.871          1.172          2.356          0              0              0              25
  12  SoapBottle         -1.715         0.731          2.877          0              0              0              20
  13  SoapBar            -1.621         0.641          2.280          0              270            0              33
  14  ToiletPaper        -1.612         0.235          2.928          0              0              0              19
  15  Cloth              -1.570         0.243          2.266          0              0              0              22
  16  ToiletPaper        -1.553         0.624          0.053          0              0              270            30
  17  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  18  SprayBottle        -1.670         0.043          1.298          0              180            0              31
  19  Drawer             -1.335         0.301          3.329          0              0              0
  20  CounterTop         -1.608         0.701          2.831          0              0              0
  21  ShowerDoor         0.564          1.018          1.115          0              0              0
  22  Drawer             -1.335         0.301          2.132          0              0              0
  23  Mirror             -1.924         1.414          2.759          0              0              0
  24  Sink               -1.695         0.616          2.283          0              90             0
  25  TowelHolder        0.870          1.157          2.25           0              0              0
  26  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  27  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  28  Window             -1.037         1.399          0.019          90             0              0
  29  Window             -1.986         1.396          0.707          90             90             0
  30  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  31  GarbageCan         -1.739         -0.031         1.268          0              90             0
  32  LightSwitch        1.25           1.273          3.634          0              270            0
  33  SinkBasin          -1.674         0.633          2.274          0              270            0
  34  Toilet             -1.547         0.000          0.685          0              180            0
  35  Sink               -1.695         0.616          3.365          0              90             0
  36  SinkBasin          -1.674         0.633          3.355          0              270            0
  37  ShowerHead         0.853          1.797          1.108          0              180            0
  38  Faucet             -1.926         0.721          2.285          0              90             0
  39  Faucet             -1.926         0.721          3.368          0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around, go forward, turn left and go to the right sink | STEP 2: Pick up the soap on the counter | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right at the toilet | STEP 4: Put the soap in the trash | STEP 5: Turn right, go forward, turn right at the left sink | STEP 6: Pick up the soap in the sink | STEP 7: Turn around, go forward a bit, turn right, go forward, turn right at the toilet | STEP 8: Put the soap in the trash | END