Task: Place two soap dispenser's in the garbage can.

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            0.901          0.5            0              270            0
   1  SoapBar            -1.801         0.731          2.877          0              0              0              17
   2  SoapBar            -1.700         0.641          3.402          0              270            0              33
   3  SoapBottle         -1.372         0.731          2.827          0              0              0              17
   4  SoapBottle         -1.887         0.731          2.726          0              0              0              17
   5  Candle             -1.543         0.772          2.877          0              0              0              17
   6  HandTowel          -1.961         1.588          1.323          0              270            0              24
   7  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
   8  Towel              0.871          1.172          2.356          0              0              0              22
   9  SoapBottle         -1.848         1.046          0.813          0              90             0              31
  10  SoapBar            -1.621         0.641          2.239          0              270            0              30
  11  ToiletPaper        -1.848         1.042          0.616          0              90             0              31
  12  Cloth              -1.767         0.720          1.632          0              0              0              19
  13  ToiletPaper        -1.446         0.235          3.730          0              0              0              16
  14  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  15  SprayBottle        -1.458         0.732          2.676          0              0              0              17
  16  Drawer             -1.335         0.301          3.329          0              0              0
  17  CounterTop         -1.608         0.701          2.831          0              0              0
  18  ShowerDoor         0.564          1.018          1.115          0              0              0
  19  Drawer             -1.335         0.301          2.132          0              0              0
  20  Mirror             -1.924         1.414          2.759          0              0              0
  21  Sink               -1.695         0.616          2.283          0              90             0
  22  TowelHolder        0.870          1.157          2.25           0              0              0
  23  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  24  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  25  Window             -1.037         1.399          0.019          90             0              0
  26  Window             -1.986         1.396          0.707          90             90             0
  27  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  28  GarbageCan         -1.739         -0.031         1.268          0              90             0
  29  LightSwitch        1.25           1.273          3.634          0              270            0
  30  SinkBasin          -1.674         0.633          2.274          0              270            0
  31  Toilet             -1.547         0.000          0.685          0              180            0
  32  Sink               -1.695         0.616          3.365          0              90             0
  33  SinkBasin          -1.674         0.633          3.355          0              270            0
  34  ShowerHead         0.853          1.797          1.108          0              180            0
  35  Faucet             -1.926         0.721          2.285          0              90             0
  36  Faucet             -1.926         0.721          3.368          0              90             0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to your right and walk across the bathroom, then turn to your right at the brick wall on your left, and go to the counter space between the two sinks.  | STEP 2: Pick up the soap dispenser closest to the edge of the counter top.  | STEP 3: Turn to your left and go across the bathroom and turn right just before the toilet, where the garbage can is on the floor, between the toilet and the sink.  | STEP 4: Place the soap dispenser in the garbage can.  | STEP 5: Go to the toilet in front of you.  | STEP 6: Pick up the soap dispenser on the back of the toilet.  | STEP 7: Turn to the garbage can on the floor.  | STEP 8: Place the soap dispenser in the garbage can, in front of the other one.  | END