Task: Move the bottle of hand soap from the counter to the cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          -2.25          0              180            0
   1  SoapBar            -2.617         0.078          -0.411         0              0              0              21
   2  SoapBar            -0.745         1.045          -3.795         0              0              0              31
   3  ToiletPaper        -0.679         1.042          -3.887         0              0              0              31
   4  Towel              -1.051         1.535          -2.887         0              90             0              24
   5  HandTowel          -2.591         1.635          -0.047         0              0              0              26
   6  SoapBar            -2.745         0.921          -1.760         351.180        90             0              30
   7  ToiletPaper        -0.084         0.902          -3.286         0              270            90             31
   8  ToiletPaper        -2.745         0.992          -1.213         0              0              0              18
   9  SoapBottle         -2.87          0.998          -1.249         0              0              0              18
  10  Candle             -2.668         0.080          -0.680         0              0              0              21
  11  ScrubBrush         -1.048         0.000          -3.830         0              0              0              27
  12  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  13  Cloth              -2.770         0.078          -0.573         0              0              0              21
  14  SprayBottle        -1.531         0.061          -0.162         0              180            0              21
  15  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  16  Mirror             -2.947         1.559          -1.194         0              0              0
  17  Cabinet            -2.504         0.400          -2.208         0              0              0
  18  CounterTop         -2.744         0.986          -1.243         0              0              0
  19  Cabinet            -2.504         0.400          -1.238         0              0              0
  20  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  21  Cabinet            -2.508         0.426          -0.290         0              0              0
  22  Sink               -2.907         0.986          -1.761         0              90             0
  23  Cabinet            -2.508         0.426          -1.260         0              0              0
  24  TowelHolder        -1.158         1.521          -2.887         0              90             0
  25  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  26  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  27  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  28  Window             -0.566         1.730          -4.102         90             0              0
  29  LightSwitch        -1.332         1.391          0.001          0              180            0
  30  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  31  Toilet             -0.319         0.000          -3.533         0              90             0
  32  Faucet             -2.907         0.993          -1.761         0              90             0
  33  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  34  Sink               -2.907         0.986          -0.732         0              90             0
  35  Faucet             -2.907         0.993          -0.731         0              90             0
  36  ShowerHead         -2.868         1.219          -3.223         0              180            0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: Turn around and walk to the two sinks on the left.  | STEP 2: Pick up the bottle of hand soap next to the lip stick on the counter.  | STEP 3: Turn around in a circle with the bottle of hand soap.  | STEP 4: Open the right side cabinet door under the sink on the right, place the bottle of hand soap in the cabinet behind the bar of soap, and close the cabinet door.  | END