Task: Put a wet bar of soap in the bin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.902          0.5            0              90             0
   1  Candle             -1.540         1.002          0.488          0              0              0              16
   2  SoapBar            0.211          0.033          0.340          0              270            0              28
   3  SoapBottle         -2.957         0.184          -1.56          0              0              0              27
   4  Towel              -0.490         1.367          0.902          0              180            0              26
   5  Candle             -0.203         0.558          -0.333         0              0              0              18
   6  HandTowel          -3.096         1.587          0.744          0              270            0              30
   7  SoapBar            -0.860         1.045          0.814          0              180            0              32
   8  ToiletPaper        -1.416         0.816          0.665          0              90             270            31
   9  Cloth              0.349          0.034          -0.103         0              270            0              28
  10  ToiletPaper        -0.865         1.038          0.946          357.597        0              0              32
  11  SprayBottle        -2.856         0.184          -1.56          0              0              0              27
  12  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  13  SoapBottle         -2.902         0.083          0.696          0              0              0              15
  14  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  15  Cabinet            -3.094         0.390          0.421          0              0              0
  16  CounterTop         -2.298         0.953          0.689          0              0              0
  17  Cabinet            -2.305         0.415          0.425          0              0              0
  18  Bathtub            0.286          0.290          -0.077         0              0              0
  19  Cabinet            -1.496         0.415          0.425          0              0              0
  20  Cabinet            -2.286         0.390          0.421          0              0              0
  21  Sink               -1.924         0.930          0.675          0              180            0
  22  Faucet             -1.922         1.015          0.887          0              0              0
  23  Mirror             -2.306         1.526          1.001          0              0              0
  24  Faucet             -2.681         1.015          0.887          0              0              0
  25  LightSwitch        -1.389         1.263          -1.693         0              0              0
  26  TowelHolder        -0.490         1.353          1.009          0              180            0
  27  GarbageCan         -2.857         0.016          -1.487         0              0              0
  28  BathtubBasin       0.349          0.023          -0.135         0              270            0
  29  SinkBasin          -1.908         0.961          0.669          0              180            0
  30  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  31  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  32  Toilet             -1.054         0.001          0.552          0              270            0
  33  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  34  Faucet             0.270          0.670          0.906          0              0              0
  35  SinkBasin          -2.666         0.961          0.669          0              180            0
  36  Sink               -2.681         0.930          0.675          0              180            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: move to the tub ahead of you | STEP 2: pick up soap from the tub | STEP 3: move to the sink behind you | STEP 4: wet the soap in the sink | STEP 5: move to the bin behind you | STEP 6: put the soap in the bin | END