Task: Put away two soap dispensers in the bathroom cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.903          1.5            0              0              0
   1  SoapBar            0.638          1.047          4.473          0              270            0              32
   2  SoapBar            -0.636         0.704          0.048          0              0              0              20
   3  SoapBottle         -0.144         0.707          0.717          0              0              0              20
   4  SoapBottle         -2.163         0.707          1.008          0              0              0              20
   5  SoapBottle         -2.163         0.707          0.426          0              0              0              20
   6  Towel              -2.393         1.478          0.580          0              90             0              26
   7  Candle             0.305          0.106          3.167          0              0              0              19
   8  Cloth              0.485          1.054          3.848          0              0              0              23
   9  HandTowel          0.397          1.656          2.039          0              180            0              30
  10  Plunger            0.480          0.002          4.793          0              0              0
  11  SoapBar            0.521          0.097          3.558          0              0              0              19
  12  ToiletPaper        -0.047         0.971          4.911          0              180            90             27
  13  ToiletPaper        0.749          1.045          4.083          0              0              0              23
  14  SoapBottle         0.392          1.058          4.116          0              0              0              23
  15  SprayBottle        0.760          1.048          4.539          0              270            0              32
  16  ScrubBrush         0.688          0.002          4.867          0              0              0
  17  Sink               0.426          1.037          2.947          0              270            0
  18  Window             -2.548         1.673          2.405          0              0              0
  19  Cabinet            0.068          0.366          3.772          0              0              0
  20  Bathtub            -1.042         0.155          0.558          0              0              0
  21  SinkBasin          0.404          0.926          2.926          0              270            0
  22  Mirror             0.858          1.863          2.972          0              0              0
  23  CounterTop         0.487          1.015          3.090          0              0              0
  24  Faucet             -0.207         0.687          0.546          0              0              0
  25  Cabinet            0.074          0.379          2.045          0              0              0
  26  TowelHolder        -2.5           1.463          0.579          0              90             0
  27  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  28  LightSwitch        -1.121         1.333          5.000          0              180            0
  29  BathtubBasin       -1.062         0.153          0.556          0              0              0
  30  HandTowelHolder    0.398          1.758          2.000          0              270            0
  31  GarbageCan         -0.229         0.001          1.445          0              270            0
  32  Toilet             0.376          0.002          4.470          0              0              0
  33  Faucet             0.661          1.043          3.371          0              270            0
  34  Faucet             0.661          1.043          2.520          0              270            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn right move straight to the wall then turn right and face to the tub | STEP 2: Pick up the soap dispenser from the tub edge | STEP 3: Turn around and walk straight across the bathroom then turn right and face the sink | STEP 4: Place the soap in the bottom left cabinet under the sink | STEP 5: Turn left and move slightly then face to the sink counter on the left  | STEP 6: Pick up the soap dispenser from the counter | STEP 7: Turn around and move forward then back around to face the sink  | STEP 8: Place the soap in the bottom left cabinet | END