Task: put two pumper bottles into a bin

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.901          2.0            0              270            0
   1  Cloth              -1.570         0.244          1.731          0              0              0              23
   2  Candle             -1.458         0.772          2.977          0              0              0              21
   3  Candle             -1.899         1.087          0.616          0              90             0              35
   4  SprayBottle        -1.715         0.732          2.877          0              0              0              21
   5  SprayBottle        -1.715         0.732          2.776          0              0              0              21
   6  SoapBottle         -1.543         0.731          2.726          0              0              0              21
   7  SoapBottle         -1.801         0.731          2.776          0              0              0              21
   8  SoapBottle         -1.458         0.731          2.877          0              0              0              21
   9  Candle             -1.798         1.087          0.616          0              90             0              35
  10  HandTowel          -1.961         1.588          1.323          0              270            0              28
  11  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  12  Towel              0.871          1.172          2.356          0              0              0              26
  13  SoapBottle         -1.873         1.046          0.748          0              90             0              35
  14  SoapBar            -1.446         0.238          3.596          0              0              0              20
  15  ToiletPaper        -1.566         0.639          0.054          0              0              270            31
  16  Cloth              -1.488         0.244          1.999          0              0              0              23
  17  ToiletPaper        -1.553         0.624          0.053          0              0              270            31
  18  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  19  SprayBottle        -1.735         0.046          1.273          0              180            0              32
  20  Drawer             -1.335         0.301          3.329          0              0              0
  21  CounterTop         -1.608         0.701          2.831          0              0              0
  22  ShowerDoor         0.564          1.018          1.115          0              0              0
  23  Drawer             -1.335         0.301          2.132          0              0              0
  24  Mirror             -1.924         1.414          2.759          0              0              0
  25  Sink               -1.695         0.616          2.283          0              90             0
  26  TowelHolder        0.870          1.157          2.25           0              0              0
  27  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  28  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  29  Window             -1.037         1.399          0.019          90             0              0
  30  Window             -1.986         1.396          0.707          90             90             0
  31  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  32  GarbageCan         -1.739         -0.031         1.268          0              90             0
  33  LightSwitch        1.25           1.273          3.634          0              270            0
  34  SinkBasin          -1.674         0.633          2.274          0              270            0
  35  Toilet             -1.547         0.000          0.685          0              180            0
  36  Sink               -1.695         0.616          3.365          0              90             0
  37  SinkBasin          -1.674         0.633          3.355          0              270            0
  38  ShowerHead         0.853          1.797          1.108          0              180            0
  39  Faucet             -1.926         0.721          2.285          0              90             0
  40  Faucet             -1.926         0.721          3.368          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: walk to face counter between sinks | STEP 2: pick up blue pumper bottle from counter | STEP 3: walk to face toilet | STEP 4: put pumper bottle in bin to right of toilet | STEP 5: turn to face toilet tank top | STEP 6: pick up pumper bottle from toilet tank top | STEP 7: turn right to look at bin | STEP 8: put pumper bottle in bin to right of toilet | END