Task: Putting two bottles of soap 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              -0.25          0.903          2.5            0              90             0
   1  SoapBar            0.305          0.097          3.558          0              0              0              20
   2  Candle             0.298          1.063          3.982          0              0              0              24
   3  Candle             -2.243         0.713          1.008          0              0              0              21
   4  SprayBottle        0.112          1.055          2.078          0              0              0              24
   5  SoapBottle         -1.252         0.707          1.060          0              0              0              21
   6  SoapBottle         0.578          1.058          3.713          0              0              0              24
   7  Towel              -2.393         1.478          0.580          0              90             0              27
   8  Candle             -2.163         0.713          0.426          0              0              0              21
   9  Cloth              0.379          0.097          2.545          0              0              0              26
  10  HandTowel          0.397          1.656          2.039          0              180            0              31
  11  Plunger            0.480          0.002          4.793          0              0              0
  12  SoapBar            -0.636         0.704          1.099          0              0              0              21
  13  ToiletPaper        0.760          1.044          4.408          0              270            0              33
  14  ToiletPaper        -0.119         0.701          0.280          0              0              0              21
  15  SoapBottle         0.752          1.058          2.139          0              0              0              24
  16  SprayBottle        -0.167         0.153          1.450          0              90             0              32
  17  ScrubBrush         0.688          0.002          4.867          0              0              0
  18  Sink               0.426          1.037          2.947          0              270            0
  19  Window             -2.548         1.673          2.405          0              0              0
  20  Cabinet            0.068          0.366          3.772          0              0              0
  21  Bathtub            -1.042         0.155          0.558          0              0              0
  22  SinkBasin          0.404          0.926          2.926          0              270            0
  23  Mirror             0.858          1.863          2.972          0              0              0
  24  CounterTop         0.487          1.015          3.090          0              0              0
  25  Faucet             -0.207         0.687          0.546          0              0              0
  26  Cabinet            0.074          0.379          2.045          0              0              0
  27  TowelHolder        -2.5           1.463          0.579          0              90             0
  28  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  29  LightSwitch        -1.121         1.333          5.000          0              180            0
  30  BathtubBasin       -1.062         0.153          0.556          0              0              0
  31  HandTowelHolder    0.398          1.758          2.000          0              270            0
  32  GarbageCan         -0.229         0.001          1.445          0              270            0
  33  Toilet             0.376          0.002          4.470          0              0              0
  34  Faucet             0.661          1.043          3.371          0              270            0
  35  Faucet             0.661          1.043          2.520          0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn left and go to the left of the sink | STEP 2: Grab the bottle of soap off of the counter | STEP 3: Turn right and face the cabinets on the bottom right of the sink | STEP 4: Put the bottle in the right cabinet | STEP 5: Turn right and go to the tub | STEP 6: Grab the bottle of soap next to the tub | STEP 7: Turn around and look at the cabinets on the bottom right of the sink | STEP 8: Put the bottle in the right cabinet | END