Task: Place two bottles on a desk.

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           0.902          -3.0           0              180            0
   1  CreditCard      -2.772         0.318          2.384          0              0              0              61
   2  Box             -1.913         0.679          5.916          0              270            0              53
   3  Box             -2.011         0.945          -1.820         0              0              0              51
   4  Vase            -2.386         0.462          4.602          0              0              0              64
   5  CellPhone       -0.025         0.695          5.425          0              315            0              45
   6  WateringCan     -3.580         0.003          5.503          4.139          0              0              Floor|-04.41|
   7  KeyChain        0.213          0.028          -0.016         0              233.940        0              65
   8  Vase            -2.386         0.462          4.325          0              0              0              64
   9  Vase            -1.965         0.457          4.464          0              0              0              64
  10  Laptop          -2.557         0.316          2.617          0              0              0              61
  11  Pillow          -3.483         0.451          3.348          0              90             0              54
  12  RemoteControl   -0.379         0.693          5.503          0              315            0              45
  13  CreditCard      -1.102         0.654          -2.074         0              0              0              51
  14  Vase            -4.247         1.656          0.771          0              0              0              22
  15  Statue          -4.223         1.263          0.399          0              0              0              20
  16  Statue          -1.329         0.665          -2.202         0              0              0              51
  17  Statue          -1.948         0.506          4.122          0              0              0              64
  18  Shelf           -4.253         2.157          0.771          0              0              0
  19  Painting        -3.368         1.741          -0.298         0              0              0
  20  Shelf           -4.253         1.306          0.771          0              0              0
  21  Painting        -1.756         1.424          -3.595         0              0              0
  22  Shelf           -4.253         1.690          0.771          0              0              0
  23  Shelf           -4.261         0.833          0.771          0              0              0
  24  Drawer          0.411          0.581          1.221          0              180            0
  25  Drawer          -0.000         0.170          1.221          0              180            0
  26  Drawer          -0.000         0.581          1.221          0              180            0
  27  Drawer          0.411          0.375          1.221          0              180            0
  28  Drawer          0.411          0.170          1.221          0              180            0
  29  Drawer          -0.000         0.375          1.221          0              180            0
  30  Desk            -0.352         0.003          1.371          0              180            0
  31  FloorLamp       0.391          -0.001         5.157          0              0              0
  32  Window          -2.828         0.470          -0.157         90             199.328        0
  33  Window          -4.410         1.702          1.787          90             270            0
  34  Window          -3.638         1.702          6.735          90             0              0
  35  Window          -4.410         1.702          2.790          90             270            0
  36  Window          -2.827         1.702          -0.157         90             199.328        0
  37  Window          -0.131         1.702          6.735          90             0              0
  38  Window          -1.013         1.702          -0.154         90             159.633        0
  39  Window          -4.410         1.702          5.980          90             270            0
  40  Television      -0.153         1.176          5.790          0              225            0
  41  GarbageCan      0.357          0.003          2.159          0              90             0
  42  DeskLamp        0.277          0.735          1.381          0              0              0
  43  HousePlant      -1.819         0.641          -2.011         0              315            0
  44  LightSwitch     -2.740         1.495          -0.405         0              180            0
  45  TVStand         -0.118         0.001          5.874          0              45             0
  46  Chair           -1.353         0.002          -2.872         0              349.207        0
  47  Chair           -2.220         0.002          -1.298         0              168.118        0
  48  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  49  Chair           -2.189         0.002          -2.835         0              2.328          0
  50  Safe            0.174          0.001          -0.071         0              323.940        0
  51  DiningTable     -1.783         0.003          -2.039         0              0              0
  52  Chair           -0.636         0.010          0.993          0              358.396        0
  53  Sofa            -2.161         0.006          6.115          0              180            0
  54  Sofa            -3.782         0.006          4.153          0              90             0
  55  Shelf           -1.095         0.607          1.321          0              180            0
  56  Shelf           -1.267         0.607          1.321          0              180            0
  57  Shelf           -1.267         0.401          1.321          0              180            0
  58  Shelf           -1.095         0.196          1.320          0              180            0
  59  Shelf           -1.095         0.401          1.321          0              180            0
  60  Shelf           -1.267         0.196          1.320          0              180            0
  61  ArmChair        -2.628         0.009          2.421          0              0              0
  62  Chair           -0.485         0.010          4.452          0              270            0
  63  Chair           -0.431         0.010          3.595          0              270            0
  64  CoffeeTable     -1.965         0.000          4.187          0              0              0
  65
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Turn around, hang a left at the wall, take a right at the table, cross the room, hang a left at the glass table, take a right at the couch and turn left to face the glass table. | STEP 2: Pick up the orange bottle from the left corner of the table. | STEP 3: Turn right, take a left at the chair and walk to the black desk on your right. | STEP 4: Put the orange bottle on the desk in the middle near the edge. | STEP 5: Turn right, take a right at the chair, turn left at the table, take a right at the couch and turn right to face the table. | STEP 6: Pick up the white bottle from the left side of the table. | STEP 7: Turn right, take a left at the chair and walk to the black desk on your right. | STEP 8: Put the white bottle to the left of the orange bottle on the desk. | END