Task: place a cleaned 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              0.0            0.909          1.0            0              270            0
   1  Cloth              -1.535         0.059          3.291          0              0              0              26
   2  Cloth              -2.508         0.111          0.454          0              0              0              37
   3  SoapBar            -2.297         0.599          1.156          0              0              0              27
   4  SprayBottle        -0.822         1.072          0.333          0              0              0              43
   5  Candle             -2.915         0.597          1.342          0              0              0              38
   6  SoapBottle         -0.560         1.073          0.332          0              0              0              43
   7  HandTowel          -0.242         1.76           3.427          0              0              0              41
   8  Plunger            -0.219         0.026          0.490          0              0              0
   9  SoapBar            -1.964         0.599          1.100          0              0              0              27
  10  ToiletPaper        -3.120         0.595          1.467          0              0              0              38
  11  SoapBottle         -1.298         0.601          1.156          0              0              0              27
  12  ToiletPaper        -0.127         0.068          3.185          0              270            0              39
  13  Towel              0.861          1.358          2.855          0              270            0              35
  14  PaperTowelRoll     -1.240         0.705          0.855          0              0              0              27
  15  ScrubBrush         -0.351         0.026          0.353          0              0              0
  16  Cloth              -1.856         0.111          0.815          0              0              0              37
  17  Candle             -1.337         1.103          3.292          0              0              0              24
  18  DishSponge         -2.607         0.600          1.509          0              0              0              38
  19  SprayBottle        -0.625         1.072          0.302          0              90             0              43
  20  Window             -3.447         1.593          0.648          0              0              0
  21  Mirror             -1.386         1.595          3.464          0              0              0
  22  SinkBasin          -0.837         0.960          3.091          0              180            0
  23  ShowerDoor         -2.477         1.774          2.386          0              0              0
  24  CounterTop         -1.358         1.094          3.151          0              0              0
  25  Sink               -0.846         0.952          3.144          0              180            0
  26  Cabinet            -1.399         0.425          2.867          0              0              0
  27  Bathtub            -2.234         0.288          0.722          0              0              0
  28  Cabinet            -0.337         0.425          2.867          0              0              0
  29  Cabinet            -1.362         0.425          2.867          0              0              0
  30  Cabinet            -2.423         0.425          2.867          0              0              0
  31  ShowerGlass        -2.895         1.423          2.342          0              0              0
  32  Faucet             -0.853         1.094          3.367          0              180            0
  33  ShowerHead         -2.949         2.154          3.427          0              0              0
  34  Window             -2.190         1.550          0.086          0              0              0
  35  TowelHolder        0.967          1.343          2.855          0              270            0
  36  TowelHolder        0.402          1.375          3.466          0              180            0
  37  BathtubBasin       -2.322         0.096          0.634          0              0              0
  38  Shelf              -2.930         0.589          1.425          0              0              0
  39  GarbageCan         -0.061         -0.001         3.131          0              270            0
  40  LightSwitch        0.968          1.432          1.128          0              270            0
  41  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  42  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  43  Toilet             -0.694         0.026          0.656          0              90             0
  44  Faucet             -1.944         1.094          3.367          0              180            0
  45  Sink               -1.934         0.952          3.144          0              180            0
  46  SinkBasin          -1.926         0.960          3.091          0              180            0
  47  Faucet             -1.342         0.638          0.629          0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: move forwards to the right side of the bath tub up ahead | STEP 2: grab a bar of soap off of the ledge of the bath tub there | STEP 3: turn around and walk over to the right side bathroom sink | STEP 4: place the soap inside of the sink, rinse it off, and then pick it back up | STEP 5: move to the right side end of the bathroom sink cabinet, and turn to face the garbage bin at the end there | STEP 6: place the bar of soap down inside of the garbage bin | END