Task: Retrieve lotion from trash can and put on ledge with two tissue boxes

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           0.903          1.75           0              0              0
   1  TissueBox          -1.308         0.289          2.157          0              0              0              28
   2  TissueBox          -1.471         1.070          2.127          0              0              0              32
   3  Cloth              0.371          0.048          -0.071         0              0              0              31
   4  Cloth              0.453          0.048          1.067          0              0              0              31
   5  SoapBar            -2.343         1.046          -0.797         0              0              0              37
   6  SoapBar            0.041          0.043          0.839          0              0              0              31
   7  SprayBottle        -2.277         1.048          -0.705         0              0              0              37
   8  SprayBottle        -0.980         1.071          2.127          0              0              0              32
   9  SoapBottle         -2.015         1.049          -0.705         0              0              0              37
  10  SoapBottle         -1.666         0.083          -0.620         0              270            0              35
  11  Candle             0.117          0.650          1.775          0              0              0              24
  12  HandTowel          -0.541         1.502          -0.846         0              180            0              34
  13  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  14  SoapBar            0.124          0.043          0.156          0              0              0              31
  15  ToiletPaper        -1.660         0.809          -0.769         0              0              90             27
  16  SoapBottle         -2.146         1.049          -0.674         0              0              0              37
  17  TissueBox          -0.817         0.289          2.097          0              0              0              28
  18  Cloth              -1.144         1.777          2.127          0              0              0              30
  19  ToiletPaper        -0.169         0.606          -0.408         0              315            0              24
  20  Towel              0.266          1.550          -0.452         0              0              0              26
  21  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  22  SprayBottle        -2.212         1.048          -0.766         0              90             0              37
  23  Mirror             -1.105         1.754          -0.884         0              0              0
  24  Bathtub            0.221          0.343          0.636          0              0              0
  25  Sink               -1.128         -0.001         -0.593         0              0              0
  26  TowelHolder        0.266          1.536          -0.559         0              0              0
  27  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  28  Shelf              -1.167         0.278          2.157          0              0              0
  29  SinkBasin          -1.133         0.836          -0.580         0              0              0
  30  Shelf              -1.167         1.763          2.157          0              0              0
  31  BathtubBasin       0.277          0.033          0.611          0              0              0
  32  Shelf              -1.167         1.059          2.157          0              0              0
  33  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  34  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  35  GarbageCan         -2.715         0.004          -0.513         0              270            0
  36  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  37  Toilet             -2.150         0.002          -0.412         0              90             0
  38  Faucet             0.284          0.504          -0.489         0              0              0
  39  ShowerHead         0.232          1.906          1.834          0              0              0
  40  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  41  Faucet             -1.127         0.993          -0.837         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around, walk to the sink | STEP 2: Pick up the lotion from the trash can | STEP 3: Turn around, walk to the shelf | STEP 4: Put the lotion on the ledge between the tissue boxes | END