Task: Place a wet bar of soap in a 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 to the left and take a few steps and turn to the left and go to the waste basket on the floor next to the toilet | STEP 2: pick up the bar of soap from the toilet tank | STEP 3: turn to the right twice and go to the front of the sink and turn to the left and go to the sink | STEP 4: put the bar of soap in the sink and turn on the water to fill the sink and turn off and drain water and pick up the soap from the sink | STEP 5: turn to the left twice and take a few steps and turn to the right and go to the waste basket on the floor next to the toilet | STEP 6: put the bar of soap in the waste basket | END