Task: put the wet soap into the waste basket

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           0.900          -0.75          0              0              0
   1  Candle             0.116          0.952          -3.793         0              90             0              24
   2  SprayBottle        -1.858         0.815          -0.221         0              0              0              28
   3  SprayBottle        0.795          0.815          -1.874         0              90             0              30
   4  SoapBottle         0.839          0.821          -0.522         0              90             0              29
   5  Cloth              -1.862         0.042          -1.822         0              270            0              26
   6  Candle             -1.858         0.817          -0.165         0              0              0              28
   7  HandTowel          -2.166         1.500          -0.037         0              0              0              21
   8  Towel              -1.525         1.685          -0.105         0              180            0              19
   9  SoapBar            -0.133         0.952          -3.901         0              90             0              24
  10  ToiletPaper        -0.556         0.082          -3.778         0              0              0              20
  11  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  12  SprayBottle        0.852          0.815          -1.975         0              90             0              30
  13  TissueBox          -1.656         0.818          -0.137         0              0              0              28
  14  ToiletPaper        0.405          0.729          -3.885         0              0              270            27
  15  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  16  Sink               -2.171         0.294          -0.660         0              90             0
  17  Bathtub            -2.122         -0.088         -3.116         0              0              0
  18  Mirror             -2.503         1.423          -0.703         0              0              0
  19  TowelHolder        -1.524         1.671          0.001          0              180            0
  20  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  21  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  22  LightSwitch        0.321          1.327          0.000          0              180            0
  23  Window             -0.540         1.625          -3.996         90             0              0
  24  Toilet             0.004          -0.000         -3.436         0              0              0
  25  SinkBasin          -2.176         0.824          -0.659         0              0              0
  26  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  27  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  28  SideTable          -1.526         0.001          -0.172         0              0              0
  29  SideTable          0.780          0.001          -0.667         0              90             0
  30  SideTable          0.793          0.001          -1.817         0              90             0
  31  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  32  Faucet             -2.431         0.982          -0.660         0              90             0
  33  Faucet             -1.909         0.666          -3.855         0              180            0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1:    turn    and walk to the   toilet    | STEP 2: get the  soap off the back of the toilet | STEP 3: turn and walk to the sink | STEP 4: put the soap into the sink  turn the water on turn the water off pick up the soap | STEP 5: turn and face the waste basket  walk to the waste basket | STEP 6:   put the soap into the waste basket | END