Task: Put liquid soap in the garbage.

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          -0.25          0              180            0
   1  SoapBar            -2.719         0.079          -1.170         0              0              0              21
   2  SoapBar            -2.807         0.995          -1.249         0              0              0              20
   3  SprayBottle        -2.719         0.079          -1.381         0              90             0              25
   4  SprayBottle        -2.770         0.080          -1.062         0              0              0              21
   5  SoapBottle         -2.719         0.081          -0.573         0              0              0              23
   6  Towel              -1.051         1.535          -2.887         0              90             0              26
   7  HandTowel          -2.591         1.635          -0.047         0              0              0              28
   8  SoapBar            -2.726         0.924          -1.835         351.180        90             0              32
   9  ToiletPaper        -2.640         0.069          -1.888         0              0              0              19
  10  ToiletPaper        -0.745         1.042          -3.856         0              0              0              33
  11  SoapBottle         -2.770         0.082          -1.925         0              0              0              19
  12  Candle             -2.931         0.996          -2.203         0              0              0              20
  13  ScrubBrush         -1.048         0.000          -3.830         0              0              0              29
  14  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  15  Cloth              -0.614         1.045          -3.856         0              0              0              33
  16  SprayBottle        -2.62          0.996          -1.177         0              0              0              20
  17  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  18  Mirror             -2.947         1.559          -1.194         0              0              0
  19  Cabinet            -2.504         0.400          -2.208         0              0              0
  20  CounterTop         -2.744         0.986          -1.243         0              0              0
  21  Cabinet            -2.504         0.400          -1.238         0              0              0
  22  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  23  Cabinet            -2.508         0.426          -0.290         0              0              0
  24  Sink               -2.907         0.986          -1.761         0              90             0
  25  Cabinet            -2.508         0.426          -1.260         0              0              0
  26  TowelHolder        -1.158         1.521          -2.887         0              90             0
  27  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  28  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  29  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  30  Window             -0.566         1.730          -4.102         90             0              0
  31  LightSwitch        -1.332         1.391          0.001          0              180            0
  32  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  33  Toilet             -0.319         0.000          -3.533         0              90             0
  34  Faucet             -2.907         0.993          -1.761         0              90             0
  35  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  36  Sink               -2.907         0.986          -0.732         0              90             0
  37  Faucet             -2.907         0.993          -0.731         0              90             0
  38  ShowerHead         -2.868         1.219          -3.223         0              180            0
  39  EastWall
  40  EastWall
  41  SouthWall

Plan:
STEP 1: Take a step forward then turn right and walk to the sink then take a small step to your right. | STEP 2: Open the cabinet under the sink on the right and grab the bottle of soap that's under there before closing the door. | STEP 3: Turn around to face the red garbage. | STEP 4: Put the soap in the garbage. | END