Task: put two pumper bottles in bathroom cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.901          -1.5           0              270            0
   1  SoapBar            -2.567         0.078          -0.680         0              0              0              22
   2  SprayBottle        -2.740         0.996          -0.292         0              0              0              19
   3  SoapBottle         -2.669         0.082          -1.871         0              0              0              18
   4  ToiletPaper        -0.679         1.042          -3.856         0              0              0              32
   5  Towel              -1.051         1.535          -2.887         0              90             0              25
   6  HandTowel          -2.591         1.635          -0.047         0              0              0              27
   7  SoapBar            -2.871         0.079          -1.062         0              0              0              20
   8  ToiletPaper        -2.618         0.076          -0.955         0              0              0              20
   9  ToiletPaper        -0.084         0.902          -3.286         0              270            90             32
  10  SoapBottle         -2.770         0.082          -1.978         0              0              0              18
  11  Candle             -2.669         0.080          -1.978         0              0              0              24
  12  ScrubBrush         -1.048         0.000          -3.830         0              0              0              28
  13  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  14  Cloth              -2.668         0.078          -1.543         0              0              0              24
  15  SprayBottle        -2.682         0.996          -1.249         0              0              0              19
  16  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  17  Mirror             -2.947         1.559          -1.194         0              0              0
  18  Cabinet            -2.504         0.400          -2.208         0              0              0
  19  CounterTop         -2.744         0.986          -1.243         0              0              0
  20  Cabinet            -2.504         0.400          -1.238         0              0              0
  21  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  22  Cabinet            -2.508         0.426          -0.290         0              0              0
  23  Sink               -2.907         0.986          -1.761         0              90             0
  24  Cabinet            -2.508         0.426          -1.260         0              0              0
  25  TowelHolder        -1.158         1.521          -2.887         0              90             0
  26  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  27  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  28  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  29  Window             -0.566         1.730          -4.102         90             0              0
  30  LightSwitch        -1.332         1.391          0.001          0              180            0
  31  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  32  Toilet             -0.319         0.000          -3.533         0              90             0
  33  Faucet             -2.907         0.993          -1.761         0              90             0
  34  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  35  Sink               -2.907         0.986          -0.732         0              90             0
  36  Faucet             -2.907         0.993          -0.731         0              90             0
  37  ShowerHead         -2.868         1.219          -3.223         0              180            0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: walk to face counter between sinks | STEP 2: pick up pumper bottle from counter | STEP 3: stand back to face cabinet under sink | STEP 4: put bottle in right cabinet | STEP 5: walk to face right hand sink counter | STEP 6: pick up pumper bottle from counter | STEP 7: stand back to face cabinet under sink | STEP 8: put bottle in right cabinet | END