Task: put two bottles of nail polish in to the cabinet under the sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.899          -1.75          0              270            0
   1  Cloth              -3.420         0.083          -1.233         0              0              0              23
   2  Cloth              -3.296         0.083          -2.042         0              90             0              20
   3  SoapBar            -3.350         0.910          -1.316         0              0              0              30
   4  Candle             -3.207         0.952          -1.412         0              0              0              30
   5  SprayBottle        -2.089         1.045          -1.969         0              0              0              37
   6  SprayBottle        -3.492         0.912          -1.380         0              0              0              30
   7  HandTowel          -3.711         1.474          -0.410         0              270            0              34
   8  ToiletPaper        -3.607         0.080          -1.143         0              0              0              23
   9  Towel              0.136          1.121          -2.080         0              0              0              31
  10  Candle             -1.826         1.085          -2.091         0              0              0              37
  11  Cloth              -3.357         0.083          -0.783         0              0              0              29
  12  HandTowel          -3.332         1.519          -2.160         0              180            0              35
  13  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  14  SoapBottle         -1.958         1.044          -2.030         0              0              0              37
  15  SoapBar            -3.569         0.116          -0.485         0              0              0              32
  16  ToiletPaper        -3.493         0.075          -1.635         0              0              0              25
  17  ToiletPaper        -2.305         0.755          -2.157         0              0              90             36
  18  SprayBottle        -1.761         1.045          -1.999         0              0              0              37
  19  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  20  Cabinet            -3.169         0.370          -2.188         0              0              0
  21  Window             -1.737         1.292          -2.286         0              0              0
  22  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  23  Cabinet            -3.169         0.370          -1.379         0              0              0
  24  Mirror             -3.730         1.481          -1.427         0              0              0
  25  Cabinet            -3.169         0.370          -1.398         0              0              0
  26  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  27  Sink               -3.391         0.841          -1.828         0              90             0
  28  FloorLamp          -3.539         1.020          -0.932         0              90             0
  29  Cabinet            -3.169         0.370          -0.592         0              0              0
  30  CounterTop         -3.426         0.883          -1.384         0              0              0
  31  TowelHolder        0.136          1.106          -2.187         0              0              0
  32  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  33  SinkBasin          -3.392         0.916          -1.820         0              90             0
  34  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  35  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  36  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  37  Toilet             -1.896         -0.001         -1.738         0              90             0
  38  LightSwitch        -2.052         1.292          1.000          0              180            0
  39  FloorLamp          -3.539         1.020          -1.830         0              90             0
  40  ShowerHead         0.232          1.026          0.375          0              315            0
  41  Sink               -3.391         0.841          -0.931         0              90             0
  42  SinkBasin          -3.392         0.916          -0.923         0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: move slightly to the right to face the counter between the two sinks | STEP 2: pick up the bottle of nail polish from the counter | STEP 3: move slightly to the left to face the sink on the left | STEP 4: open the right cabinet door underneath the sink on the left, put the nail polish in to the cabinet and close the door | STEP 5: turn around and move to the toilet, going around to face the left side of the toilet | STEP 6: pick up the bottle of nail polish that is on the back of the toilet | STEP 7: move back around the toilet and to the sink that is on the left side of the counter | STEP 8: open the right cabinet door that is underneath the left sink and put the bottle of nail polish in to the cabinet to the right of the first bottle of polish, close the door | END