Task: put two soap bars in bin

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.901          -1.25          0              270            0
   1  Cloth              -2.764         0.066          -3.630         0              0              0              27
   2  Cloth              -2.796         0.806          -3.707         0              0              0              29
   3  SoapBar            -2.884         0.806          -2.263         0              0              0              29
   4  SoapBar            -2.669         0.872          -3.098         0              90             0              35
   5  SoapBar            -2.700         0.872          -3.007         0              90             0              35
   6  Candle             -2.620         0.815          -3.474         0              0              0              29
   7  SprayBottle        -0.099         1.046          -2.917         0              270            0              38
   8  SprayBottle        -0.190         1.046          -3.048         0              270            0              38
   9  SoapBottle         -2.620         0.808          -3.707         0              0              0              29
  10  HandTowel          -2.962         1.584          -2.569         0              270            0              33
  11  Candle             -0.221         1.054          -2.917         0              270            0              38
  12  Cloth              -2.689         0.066          -3.023         0              0              0              22
  13  HandTowel          -2.962         1.584          -3.550         0              270            0              32
  14  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  15  SoapBar            -2.443         0.806          -3.591         0              0              0              29
  16  ToiletPaper        -0.093         0.842          -2.618         0              270            270            31
  17  ToiletPaper        -0.099         1.042          -3.245         0              270            0              38
  18  Towel              -1.291         1.386          -0.63          0              270            0              30
  19  SoapBottle         -2.532         0.808          -2.459         0              0              0              29
  20  SprayBottle        -2.443         0.807          -2.590         0              0              0              29
  21  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  22  Cabinet            -2.293         0.324          -3.254         0              0              0
  23  Mirror             -3.0           1.659          -3.069         0              0              0
  24  Sink               -2.661         0.785          -3.069         0              90             0
  25  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  26  Cabinet            -2.299         0.345          -2.250         0              0              0
  27  Cabinet            -2.293         0.324          -3.814         0              0              0
  28  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  29  CounterTop         -2.632         0.843          -3.040         0              0              0
  30  TowelHolder        -1.184         1.371          -0.629         0              270            0
  31  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  32  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  33  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  34  Window             -0.567         1.706          -4.002         90             0              0
  35  SinkBasin          -2.669         0.863          -3.063         0              90             0
  36  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  37  LightSwitch        -1.945         1.503          0.000          0              180            0
  38  Toilet             -0.452         0.000          -3.052         0              0              0
  39  Faucet             -3.0           1.167          -3.073         0              180            0
  40  ShowerHead         -0.614         1.934          -0.013         0              0              0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: walk to face bathroom sink | STEP 2: pick up pink soap bar from sink | STEP 3: walk to face trash bin next to toilet | STEP 4: put soap bar in bin | STEP 5: walk to face bathroom sink | STEP 6: pick up pink soap bar from sink | STEP 7: walk to face trash bin next to toilet | STEP 8: put soap bar in bin | END