Task: Put two liquid soap into the cupboard

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          0.902          2.25           0              0              0
   1  Cloth              -2.788         0.094          3.366          0              0              0              22
   2  Candle             -2.732         0.101          2.567          0              0              0              23
   3  Candle             -2.811         1.086          0.455          0              90             0              44
   4  SoapBottle         -2.530         0.928          1.672          0              0              0              34
   5  ToiletPaper        -2.610         0.900          3.327          0              0              0              26
   6  Towel              -0.106         1.510          1.943          0              270            0              36
   7  Candle             -2.456         0.937          1.757          0              0              0              34
   8  SoapBottle         -0.207         0.056          0.274          0              270            0              40
   9  HandTowel          -2.698         1.521          2.867          0              0              0              37
  10  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  11  SoapBar            -2.792         1.205          1.400          0              270            0              35
  12  ToiletPaper        -2.328         0.791          0.079          0              0              270            39
  13  Cloth              -2.601         0.745          3.167          0              0              0              30
  14  ToiletPaper        -2.555         0.090          3.366          0              0              0              22
  15  SprayBottle        -2.826         0.930          1.757          0              0              0              34
  16  PaperTowelRoll     -2.752         1.034          1.757          0              180            0              34
  17  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  18  DishSponge         -2.762         0.939          2.380          0              90             0              42
  19  Cabinet            -2.410         0.371          2.862          0              0              0
  20  Mirror             -2.973         1.613          2.265          0              0              0
  21  Bathtub            -0.435         0.182          1.575          0              0              0
  22  Cabinet            -2.410         0.371          3.570          0              0              0
  23  Cabinet            -2.410         0.371          2.040          0              0              0
  24  Cabinet            -2.410         1.261          2.913          0              0              0
  25  Faucet             -0.769         0.416          1.0            0              9.958          0
  26  Cabinet            -2.410         1.261          3.570          0              0              0
  27  Sink               -2.723         0.862          2.231          0              90             0
  28  Cabinet            -2.410         2.022          2.913          0              0              0
  29  Cabinet            -2.410         0.371          1.585          0              0              0
  30  Drawer             -2.638         0.767          3.239          0              0              0
  31  Cabinet            -2.410         2.022          3.570          0              0              0
  32  Faucet             -2.928         0.978          2.231          0              90             0
  33  Cabinet            -2.410         0.371          2.913          0              0              0
  34  CounterTop         -2.688         0.966          2.260          0              0              0
  35  CounterTop         -2.611         1.243          1.455          0              270            0
  36  TowelHolder        0.0            1.496          1.942          0              270            0
  37  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  38  Window             -2.256         1.656          -0.021         90             0              0
  39  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  40  GarbageCan         -0.403         -0.027         0.241          0              0              0
  41  BathtubBasin       -0.435         0.185          1.544          0              0              0
  42  SinkBasin          -2.736         0.929          2.241          0              90             0
  43  LightSwitch        -1.675         1.442          3.610          0              180            0
  44  Toilet             -2.579         0.032          0.656          0              180            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around, go forward a bit, turn right to the counter | STEP 2: Pick up the liquid soap on the counter | STEP 3: Turn around, go forward a bit, turn around | STEP 4: Open the second cupboard from the left, put the soap in the cupboard, close the cupboard | STEP 5: Turn left, go forward a bit, turn left, go to the box | STEP 6: Pick up the soap in the box | STEP 7: Turn around, go forward, turn right, go forward, turn left in front of the counter | STEP 8: Open the second cupboard from the left, put the soap in the cupboard, close the cupboard | END