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              -1.0           0.901          2.5            0              270            0
   1  SprayBottle        -0.279         0.076          2.291          0              0              0              26
   2  SprayBottle        -0.141         0.955          2.737          0              0              0              24
   3  Candle             -0.388         0.954          2.807          0              0              0              24
   4  SoapBar            -0.450         0.954          2.878          0              0              0              24
   5  SoapBottle         -0.104         0.954          1.294          0              0              0              32
   6  SoapBottle         -0.331         0.077          3.462          0              0              0              25
   7  HandTowel          -0.038         1.619          1.887          0              90             0              30
   8  Towel              -1.082         1.326          1.302          0              0              0              27
   9  SoapBar            -0.264         0.954          2.772          0              0              0              24
  10  ToiletPaper        -0.280         0.073          2.564          0              0              0              21
  11  Plunger            -0.112         -0.000         1.848          0              0              0
  12  Candle             -0.077         0.953          1.544          0              0              0              32
  13  ToiletPaper        -0.280         0.654          1.985          0              180            90             29
  14  SprayBottle        -0.382         0.077          2.743          0              0              0              21
  15  Cloth              -0.330         0.075          3.100          0              0              0              20
  16  ScrubBrush         -0.322         3.109          1.950          0              0              0
  17  SoapBottle         -0.326         0.955          2.878          0              0              0              24
  18  Mirror             -0.030         1.544          2.864          0              0              0
  19  Sink               -0.302         0.799          3.263          0              270            0
  20  Cabinet            -0.491         0.404          2.863          0              0              0
  21  Cabinet            -0.495         0.384          2.842          0              0              0
  22  ShowerDoor         -1.647         1.017          1.180          0              0              0
  23  ShowerGlass        -0.909         0.788          0.485          0              0              0
  24  CounterTop         -0.261         0.927          2.843          0              0              0
  25  Cabinet            -0.495         0.384          3.650          0              0              0
  26  Cabinet            -0.491         0.404          2.055          0              0              0
  27  TowelHolder        -1.082         1.312          1.195          0              0              0
  28  LightSwitch        -2.424         1.447          3.338          0              90             0
  29  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  30  HandTowelHolder    0.000          1.721          1.887          0              180            0
  31  HandTowelHolder    0.000          1.721          3.799          0              180            0
  32  Toilet             -0.542         3.109          1.493          0              270            0
  33  GarbageCan         -2.159         -0.000         3.756          0              0              0
  34  SinkBasin          -0.308         0.820          3.266          0              0              0
  35  ShowerHead         -0.134         1.888          0.564          0              90             0
  36  Faucet             0.0            1.009          3.265          0              0              0
  37  Faucet             0.0            1.009          2.421          0              0              0
  38  SinkBasin          -0.308         0.820          2.422          0              0              0
  39  Sink               -0.302         0.799          2.419          0              270            0
  40  NorthWall
  41  SouthWall
  42  SouthWall

Plan:
STEP 1: Turn around and go to the counter between the sinks | STEP 2: Grab a 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 right and go to the left sink | STEP 6: Grab the bar of soap that's to the right of the sink | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END