Task: Put two green bottles away in a cabinet below the roll of paper towels.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          1.124          -0.5           0              0              0
   1  Potato          1.213          1.350          0.861          0              270            0              80
   2  DishSponge      -1.826         1.050          -0.633         0              0              0              73
   3  DishSponge      0.900          0.344          -1.854         0              180            0              54
   4  WineBottle      -1.790         1.323          -1.681         0              0              0              55
   5  WineBottle      -1.363         1.323          -0.801         0              0              0              55
   6  Kettle          -0.749         1.332          -2.973         0              0              0              58
   7  Fork            0.896          1.323          -0.942         0              0              0              55
   8  Fork            -1.772         0.420          -1.348         0              90             0              61
   9  Spoon           0.942          0.743          0.682          0              0              0              83
  10  Spatula         -1.826         1.348          -1.049         0              180            0              62
  11  Egg             0.634          1.363          -2.678         0              0              0              55
  12  Egg             -1.826         1.091          -0.451         0              0              0              73
  13  Cup             0.896          1.320          -2.053         0              0              0              69
  14  Cup             -1.698         1.048          -0.542         0              0              0              73
  15  Plate           -2.049         1.323          -2.981         0              0              0              55
  16  Plate           1.053          0.345          -2.164         0              180            0              54
  17  Knife           0.636          1.352          -2.053         0              0              0              55
  18  SoapBottle      -1.730         0.420          -0.233         0              0              0              59
  19  SoapBottle      0.976          0.345          -1.957         0              180            0              54
  20  PepperShaker    -1.750         0.338          1.213          0              0              0              56
  21  Lettuce         -1.660         1.399          -2.721         0              0              0              55
  22  Lettuce         1.025          1.399          -2.424         0              0              0              55
  23  Mug             1.027          1.202          1.238          0              0              0              80
  24  Mug             0.971          1.519          1.601          0              270            0              68
  25  Apple           0.977          1.724          1.545          0              270            0              68
  26  Apple           -1.610         0.329          2.151          0              270            0              70
  27  Bread           0.420          1.397          -3.121         0              0              0              55
  28  Pot             -1.577         1.310          -1.584         0              0              0              55
  29  Knife           -1.530         1.352          1.419          0              0              0              55
  30  Bowl            0.920          1.522          1.786          0              270            0              68
  31  Potato          -1.954         1.090          -0.496         0              0              0              73
  32  SoapBottle      0.778          1.207          1.238          0              0              0              80
  33  Fork            -1.915         1.336          -1.255         0              0              0              62
  34  Cup             -1.826         1.330          -0.980         0              0              0              62
  35  Kettle          -1.380         1.324          -3.092         0              0              0              55
  36  Egg             1.072          1.565          1.477          0              270            0              68
  37  Pan             -1.881         0.327          -2.035         0              0              0              51
  38  SaltShaker      0.563          1.318          -3.121         0              0              0              55
  39  WineBottle      -2.049         1.323          1.419          0              0              0              55
  40  Lettuce         -1.401         1.399          -2.461         0              0              0              55
  41  Spatula         0.636          1.337          -0.942         0              0              0              55
  42  PaperTowelRoll  -1.530         1.427          -1.941         0              0              0              55
  43  Tomato          0.977          1.709          1.722          0              270            0              68
  44  Plate           -1.790         1.323          1.094          0              0              0              55
  45  PepperShaker    1.155          1.318          -2.053         0              0              0              55
  46  DishSponge      -1.602         0.343          -1.963         0              0              0              51
  47  Spoon           0.492          1.324          -2.789         0              0              0              55
  48  Apple           1.115          1.359          0.965          0              270            0              80
  49  Mug             -1.094         1.318          -3.314         0              0              0              55
  50  StoveBurner     -0.239         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          -2.002         0              0              0
  52  StoveBurner     -0.630         1.325          -3.301         0              180            0
  53  Cabinet         -1.461         0.775          0.470          0              0              0
  54  Cabinet         0.578          0.776          -2.054         0              0              0
  55  CounterTop      -1.809         1.358          1.182          0              0              0
  56  Cabinet         -1.461         0.775          1.310          0              0              0
  57  Faucet          -2.063         1.362          -0.726         0              39.391         0
  58  StoveBurner     -0.749         1.325          -2.973         0              0              0
  59  Drawer          -1.610         0.681          -0.430         0              0              0
  60  Window          -2.566         1.799          -0.822         270            0              0
  61  Drawer          -1.610         0.681          -1.217         0              0              0
  62  Sink            -1.990         1.143          -0.975         0              0              0
  63  StoveBurner     -0.125         1.325          -2.973         0              0              0
  64  StoveKnob       -0.185         1.338          -2.741         0              270            180
  65  StoveKnob       -0.336         1.338          -2.741         0              270            180
  66  StoveKnob       -0.569         1.338          -2.741         0              270            180
  67  StoveKnob       -0.707         1.338          -2.741         0              270            180
  68  Fridge          1.013          0.227          1.917          0              270            0
  69  Microwave       0.994          1.310          -2.163         0              270            0
  70  GarbageCan      -1.633         0.212          2.192          0              270            0
  71  LightSwitch     1.386          1.565          -0.657         0              270            0
  72  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  73  SinkBasin       -1.835         1.039          -0.542         0              0              0
  74  ButterKnife     0.873          0.468          0.651          0              0              0
  75  Toaster         -1.885         1.310          -2.512         0              90             0
  76  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  77  Drawer          0.647          1.061          0.680          0              270            0
  78  Drawer          0.648          1.061          1.020          0              270            0
  79  Drawer          0.648          0.843          1.020          0              270            0
  80  SideTable       0.975          0.220          0.869          0              270            0
  81  Drawer          0.648          0.602          0.680          0              270            0
  82  Drawer          0.648          0.596          1.020          0              270            0
  83  Drawer          0.648          0.843          0.680          0              270            0
  84  Stool           0.606          0.222          -1.084         1.233          280.489        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Make a right to right the countertop to the left of the sink. | STEP 2: Pick up the green bottle behind the black pot. | STEP 3: Turn to face the cabinet directly below the paper towel roll. | STEP 4: Place the green bottle in the cabinet. | STEP 5: Turn to face the sink. | STEP 6: Pick up the green bottle in front of the sink. | STEP 7: Turn left to face the cabinet directly below the paper towel roll. | STEP 8: Put the other green bottle in the cabinet. | END