Task: Place spray bottles in a cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.909          1.5            0              90             0
   1  SoapBar            -2.291         0.106          0.725          0              0              0              37
   2  SprayBottle        -1.284         1.105          2.905          0              0              0              24
   3  DishSponge         -0.822         1.072          0.333          0              0              0              43
   4  SoapBottle         -2.315         1.106          2.905          0              0              0              24
   5  SoapBottle         -1.187         0.601          1.110          0              0              0              27
   6  ToiletPaper        -1.464         0.596          1.072          0              0              0              27
   7  HandTowel          -0.242         1.76           3.427          0              0              0              41
   8  Plunger            -0.219         0.026          0.490          0              0              0
   9  SoapBar            -0.885         0.969          3.091          0              180            0              22
  10  ToiletPaper        -0.625         1.067          0.302          0              0              0              43
  11  SoapBottle         -0.108         0.073          3.280          0              270            0              39
  12  ToiletPaper        -1.287         0.051          3.290          0              0              0              29
  13  Towel              0.402          1.389          3.359          0              0              0              36
  14  PaperTowelRoll     -1.298         0.705          1.184          0              0              0              27
  15  ScrubBrush         -0.351         0.026          0.353          0              0              0
  16  Cloth              -2.725         0.111          0.454          0              0              0              37
  17  Candle             -0.888         1.069          0.271          0              0              0              43
  18  DishSponge         -2.710         0.600          1.384          0              0              0              38
  19  SprayBottle        -0.127         0.073          3.185          0              270            0              39
  20  Window             -3.447         1.593          0.648          0              0              0
  21  Mirror             -1.386         1.595          3.464          0              0              0
  22  SinkBasin          -0.837         0.960          3.091          0              180            0
  23  ShowerDoor         -2.477         1.774          2.386          0              0              0
  24  CounterTop         -1.358         1.094          3.151          0              0              0
  25  Sink               -0.846         0.952          3.144          0              180            0
  26  Cabinet            -1.399         0.425          2.867          0              0              0
  27  Bathtub            -2.234         0.288          0.722          0              0              0
  28  Cabinet            -0.337         0.425          2.867          0              0              0
  29  Cabinet            -1.362         0.425          2.867          0              0              0
  30  Cabinet            -2.423         0.425          2.867          0              0              0
  31  ShowerGlass        -2.895         1.423          2.342          0              0              0
  32  Faucet             -0.853         1.094          3.367          0              180            0
  33  ShowerHead         -2.949         2.154          3.427          0              0              0
  34  Window             -2.190         1.550          0.086          0              0              0
  35  TowelHolder        0.967          1.343          2.855          0              270            0
  36  TowelHolder        0.402          1.375          3.466          0              180            0
  37  BathtubBasin       -2.322         0.096          0.634          0              0              0
  38  Shelf              -2.930         0.589          1.425          0              0              0
  39  GarbageCan         -0.061         -0.001         3.131          0              270            0
  40  LightSwitch        0.968          1.432          1.128          0              270            0
  41  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  42  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  43  Toilet             -0.694         0.026          0.656          0              90             0
  44  Faucet             -1.944         1.094          3.367          0              180            0
  45  Sink               -1.934         0.952          3.144          0              180            0
  46  SinkBasin          -1.926         0.960          3.091          0              180            0
  47  Faucet             -1.342         0.638          0.629          0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn left and head to the trash can that is to the right of the sink | STEP 2: Pick up the spray bottle that is inside the trash can | STEP 3: Turn around and take a step then turn to your right and head to the vanity with the two sinks | STEP 4: Open the left cabinet that is under the right hand sink and place the spray bottle into the cabinet then close the door | STEP 5: Step closer to the sink  | STEP 6: Pick up the spray bottle that is sitting on the counter between the sinks | STEP 7: Turn around and take a step, and then turn around to face the sinks | STEP 8: Open the left cabinet that is under the right hand sink and place the spray bottle into the cabinet  to the right of the spray bottle that is already there, then close the door | END