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          2.5            0              180            0
   1  Cloth              -0.179         0.076          2.698          0              270            0              23
   2  Cloth              -0.330         0.075          3.011          0              0              0              22
   3  SprayBottle        -0.202         0.955          2.913          0              0              0              26
   4  Candle             -0.326         0.954          2.878          0              0              0              26
   5  Candle             -0.141         0.954          2.772          0              0              0              26
   6  SoapBar            -0.131         0.953          1.669          0              0              0              34
   7  SoapBottle         -0.331         0.077          2.743          0              0              0              23
   8  SoapBottle         -0.178         0.076          2.247          0              0              0              28
   9  HandTowel          -0.038         1.619          3.799          0              90             0              33
  10  Towel              -1.082         1.326          1.302          0              0              0              29
  11  SoapBar            -0.104         0.953          1.544          0              0              0              34
  12  ToiletPaper        -0.178         0.072          2.966          0              0              0              22
  13  Plunger            -0.112         -0.000         1.848          0              0              0
  14  Candle             -0.229         0.075          2.336          0              0              0              28
  15  ToiletPaper        -0.280         0.654          1.985          0              180            90             31
  16  SprayBottle        -0.279         0.076          2.157          0              0              0              28
  17  Cloth              -0.230         0.076          3.507          0              0              0              27
  18  ScrubBrush         -0.322         3.109          1.950          0              0              0
  19  SoapBottle         -0.326         0.955          2.948          0              0              0              26
  20  Mirror             -0.030         1.544          2.864          0              0              0
  21  Sink               -0.302         0.799          3.263          0              270            0
  22  Cabinet            -0.491         0.404          2.863          0              0              0
  23  Cabinet            -0.495         0.384          2.842          0              0              0
  24  ShowerDoor         -1.647         1.017          1.180          0              0              0
  25  ShowerGlass        -0.909         0.788          0.485          0              0              0
  26  CounterTop         -0.261         0.927          2.843          0              0              0
  27  Cabinet            -0.495         0.384          3.650          0              0              0
  28  Cabinet            -0.491         0.404          2.055          0              0              0
  29  TowelHolder        -1.082         1.312          1.195          0              0              0
  30  LightSwitch        -2.424         1.447          3.338          0              90             0
  31  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  32  HandTowelHolder    0.000          1.721          1.887          0              180            0
  33  HandTowelHolder    0.000          1.721          3.799          0              180            0
  34  Toilet             -0.542         3.109          1.493          0              270            0
  35  GarbageCan         -2.159         -0.000         3.756          0              0              0
  36  SinkBasin          -0.308         0.820          3.266          0              0              0
  37  ShowerHead         -0.134         1.888          0.564          0              90             0
  38  Faucet             0.0            1.009          3.265          0              0              0
  39  Faucet             0.0            1.009          2.421          0              0              0
  40  SinkBasin          -0.308         0.820          2.422          0              0              0
  41  Sink               -0.302         0.799          2.419          0              270            0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Go to the toilet | STEP 2: Grab a bar of soap that's on the toilet | 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 toilet | STEP 6: Grab a bar of soap off of the toilet | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END