Task: Putting two bars of soap in the trash can

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          -2.75          0              90             0
   1  Cloth              -2.443         0.806          -2.525         0              0              0              26
   2  SoapBar            -2.708         0.806          -3.823         0              0              0              26
   3  SoapBar            -2.732         0.872          -3.037         0              90             0              32
   4  SprayBottle        -2.884         0.807          -2.656         0              0              0              26
   5  SoapBottle         -2.387         0.068          -3.568         0              0              0              24
   6  HandTowel          -2.962         1.584          -3.550         0              270            0              29
   7  ToiletPaper        -2.689         0.063          -3.444         0              0              0              24
   8  Candle             -2.796         0.815          -3.532         0              0              0              26
   9  Cloth              -2.538         0.066          -2.964         0              0              0              19
  10  HandTowel          -2.962         1.584          -2.569         0              270            0              30
  11  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  12  SoapBar            -2.355         0.806          -2.263         0              0              0              26
  13  ToiletPaper        -2.708         0.803          -2.394         0              0              0              26
  14  ToiletPaper        -2.462         0.062          -2.378         0              0              0              23
  15  Towel              -1.291         1.386          -0.63          0              270            0              27
  16  SoapBottle         -0.160         1.047          -3.048         0              270            0              35
  17  SprayBottle        -2.764         0.067          -3.755         0              270            0              24
  18  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  19  Cabinet            -2.293         0.324          -3.254         0              0              0
  20  Mirror             -3.0           1.659          -3.069         0              0              0
  21  Sink               -2.661         0.785          -3.069         0              90             0
  22  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  23  Cabinet            -2.299         0.345          -2.250         0              0              0
  24  Cabinet            -2.293         0.324          -3.814         0              0              0
  25  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  26  CounterTop         -2.632         0.843          -3.040         0              0              0
  27  TowelHolder        -1.184         1.371          -0.629         0              270            0
  28  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  29  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  30  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  31  Window             -0.567         1.706          -4.002         90             0              0
  32  SinkBasin          -2.669         0.863          -3.063         0              90             0
  33  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  34  LightSwitch        -1.945         1.503          0.000          0              180            0
  35  Toilet             -0.452         0.000          -3.052         0              0              0
  36  Faucet             -3.0           1.167          -3.073         0              180            0
  37  ShowerHead         -0.614         1.934          -0.013         0              0              0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: Turn around and go to the left of the sink | STEP 2: Grab the bar of soap off of the counter | STEP 3: Turn around and go to the trash can | STEP 4: Put the soap in the trash can | STEP 5: Turn around and go to the sink | STEP 6: Grab the bar of soap out of the sink | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END