Task: Putting soap dispenser bottles in 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              -1.5           0.902          1.5            0              0              0
   1  Candle             -2.548         0.098          2.180          0              0              0              25
   2  Candle             -2.752         0.937          2.861          0              0              0              36
   3  SoapBar            -2.707         0.092          3.151          0              0              0              35
   4  SprayBottle        -2.539         0.093          3.001          0              0              0              35
   5  DishSponge         -2.555         0.094          3.366          0              0              0              24
   6  SoapBottle         -2.604         0.928          2.734          0              0              0              36
   7  ToiletPaper        -2.546         1.660          3.034          0              0              0              30
   8  Towel              -0.106         1.510          1.943          0              270            0              38
   9  Candle             -2.793         0.098          1.631          0              0              0              31
  10  SoapBottle         -0.207         0.056          0.274          0              270            0              42
  11  HandTowel          -2.698         1.521          2.867          0              0              0              39
  12  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  13  SoapBar            -2.788         0.937          2.380          0              90             0              44
  14  ToiletPaper        -2.328         0.791          0.079          0              0              270            41
  15  Cloth              -2.549         0.093          2.662          0              0              0              25
  16  ToiletPaper        -2.872         1.074          0.652          0              90             0              46
  17  SprayBottle        -0.206         0.057          0.187          0              0              0              42
  18  PaperTowelRoll     -2.530         1.034          2.818          0              0              0              36
  19  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  20  DishSponge         -2.736         0.939          2.081          0              90             0              44
  21  Cabinet            -2.410         0.371          2.862          0              0              0
  22  Mirror             -2.973         1.613          2.265          0              0              0
  23  Bathtub            -0.435         0.182          1.575          0              0              0
  24  Cabinet            -2.410         0.371          3.570          0              0              0
  25  Cabinet            -2.410         0.371          2.040          0              0              0
  26  Cabinet            -2.410         1.261          2.913          0              0              0
  27  Faucet             -0.769         0.416          1.0            0              9.958          0
  28  Cabinet            -2.410         1.261          3.570          0              0              0
  29  Sink               -2.723         0.862          2.231          0              90             0
  30  Cabinet            -2.410         2.022          2.913          0              0              0
  31  Cabinet            -2.410         0.371          1.585          0              0              0
  32  Drawer             -2.638         0.767          3.239          0              0              0
  33  Cabinet            -2.410         2.022          3.570          0              0              0
  34  Faucet             -2.928         0.978          2.231          0              90             0
  35  Cabinet            -2.410         0.371          2.913          0              0              0
  36  CounterTop         -2.688         0.966          2.260          0              0              0
  37  CounterTop         -2.611         1.243          1.455          0              270            0
  38  TowelHolder        0.0            1.496          1.942          0              270            0
  39  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  40  Window             -2.256         1.656          -0.021         90             0              0
  41  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  42  GarbageCan         -0.403         -0.027         0.241          0              0              0
  43  BathtubBasin       -0.435         0.185          1.544          0              0              0
  44  SinkBasin          -2.736         0.929          2.241          0              90             0
  45  LightSwitch        -1.675         1.442          3.610          0              180            0
  46  Toilet             -2.579         0.032          0.656          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Walk forward slightly then turn and face the left at the counter | STEP 2: Pick up the soap dispenser bottle from the counter | STEP 3: Turn to the left and walk straight slightly then turn right and face the counter | STEP 4: Open the bottom right cabinet door and place the soap inside then close the door | STEP 5: Turn to the left walk forward slightly then turn left and walk towards the black trash bin | STEP 6: Pick up the soap bottle from the inside of the trash bin | STEP 7: Turn left and walk straight slightly then turn to the left and face the counter | STEP 8: Open the bottom right cabinet door and place the soap inside then close the door | END