Task: Putting two spray bottles in a cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          -1.25          0              0              0
   1  Cloth              -2.668         0.078          -0.519         0              0              0              25
   2  Cloth              -2.719         0.079          -1.062         0              0              0              23
   3  Candle             -2.557         0.996          -1.177         0              0              0              22
   4  Candle             -2.567         0.080          -1.925         0              0              0              27
   5  SprayBottle        -2.613         0.996          -0.322         0              0              0              22
   6  SprayBottle        -2.742         0.996          -2.188         0              0              0              22
   7  ToiletPaper        -0.084         0.902          -3.286         0              270            90             35
   8  Towel              -1.051         1.535          -2.887         0              90             0              28
   9  HandTowel          -2.591         1.635          -0.047         0              0              0              30
  10  SoapBar            -0.482         1.045          -3.826         0              0              0              35
  11  ToiletPaper        -2.745         0.992          -1.320         0              0              0              22
  12  ToiletPaper        -0.745         1.042          -3.826         0              0              0              35
  13  SoapBottle         -1.446         0.063          -0.162         0              180            0              25
  14  Candle             -2.62          0.996          -1.177         0              0              0              22
  15  ScrubBrush         -1.048         0.000          -3.830         0              0              0              31
  16  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  17  Cloth              -2.770         0.079          -1.978         0              0              0              21
  18  SprayBottle        -0.614         1.046          -3.765         0              0              0              35
  19  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  20  Mirror             -2.947         1.559          -1.194         0              0              0
  21  Cabinet            -2.504         0.400          -2.208         0              0              0
  22  CounterTop         -2.744         0.986          -1.243         0              0              0
  23  Cabinet            -2.504         0.400          -1.238         0              0              0
  24  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  25  Cabinet            -2.508         0.426          -0.290         0              0              0
  26  Sink               -2.907         0.986          -1.761         0              90             0
  27  Cabinet            -2.508         0.426          -1.260         0              0              0
  28  TowelHolder        -1.158         1.521          -2.887         0              90             0
  29  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  30  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  31  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  32  Window             -0.566         1.730          -4.102         90             0              0
  33  LightSwitch        -1.332         1.391          0.001          0              180            0
  34  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  35  Toilet             -0.319         0.000          -3.533         0              90             0
  36  Faucet             -2.907         0.993          -1.761         0              90             0
  37  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  38  Sink               -2.907         0.986          -0.732         0              90             0
  39  Faucet             -2.907         0.993          -0.731         0              90             0
  40  ShowerHead         -2.868         1.219          -3.223         0              180            0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: Go to the right of the sink | STEP 2: Grab the spray bottle that's right of the sink | STEP 3: Turn around and look at the cabinets at the left of the sink | STEP 4: Put the bottle in the second cabinet from the left | STEP 5: Move towards the sink counter | STEP 6: Grab the spray bottle that's to the left of the sink | STEP 7: Back up from the counter and look down at the cabinets | STEP 8: Put the bottle in the second cabinet from the left | END