Task: Move a bottle to the bathroom shelf

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.913          -0.25          0              0              0
   1  Cloth              -2.034         0.075          -1.039         0              45             0              Floor|-00.35|
   2  Cloth              1.142          0.622          -2.242         0              0              0              37
   3  TissueBox          -3.034         0.244          1.473          0              90             0              48
   4  TissueBox          2.204          0.624          -2.242         0              0              0              37
   5  Candle             -0.208         0.962          -2.275         0              0              0              29
   6  Candle             -0.239         0.964          2.357          0              270            0              43
   7  SoapBar            0.135          0.965          2.330          0              270            0              43
   8  SoapBar            -2.754         0.884          0.639          0              90             0              45
   9  DishSponge         0.010          0.966          2.304          0              270            0              43
  10  Candle             -0.368         0.962          -2.275         0              0              0              29
  11  HandTowel          -0.885         1.617          -2.503         0              180            0              38
  12  Towel              0.465          1.21           -1.095         0              270            0              34
  13  SoapBottle         0.430          0.973          -1.805         0              0              0              29
  14  SoapBar            1.567          0.623          -2.094         0              0              0              37
  15  ToiletPaper        -2.864         0.243          1.317          0              90             0              48
  16  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  17  SprayBottle        -3.034         0.243          1.317          0              90             0              48
  18  TissueBox          1.780          0.624          -2.389         0              0              0              37
  19  ToiletPaper        -0.368         0.959          -2.087         0              0              0              29
  20  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  21  Cloth              -0.048         0.961          -1.899         0              0              0              29
  22  DishSponge         -1.787         0.078          -1.498         0              45             0              29
  23  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  24  Bathtub            -1.957         0.494          -1.233         0              0              0
  25  ShowerDoor         0.650          1.413          2.169          0              0              0
  26  ShowerGlass        0.0            0.0            0.0            0              0              0
  27  Drawer             0.300          0.304          -1.820         0              0              0
  28  Mirror             -0.046         1.512          -2.538         0              0              0
  29  CounterTop         0.196          0.430          -2.010         0              0              0
  30  Sink               -2.796         0.328          0.755          0              90             0
  31  Drawer             0.300          0.833          -1.820         0              0              0
  32  Drawer             0.300          0.682          -1.820         0              0              0
  33  Drawer             0.300          0.492          -1.820         0              0              0
  34  TowelHolder        0.572          1.195          -1.095         0              270            0
  35  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  36  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  37  Shelf              1.536          0.613          -2.242         0              0              0
  38  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  39  Window             -3.170         1.812          -1.697         90             90             0
  40  Window             -3.170         1.812          1.597          90             90             0
  41  Window             -2.144         1.809          -2.573         90             0              0
  42  Window             -3.170         1.812          -0.054         90             90             0
  43  Toilet             -0.064         0.012          1.838          0              180            0
  44  LightSwitch        -1.406         1.472          2.407          0              180            0
  45  SinkBasin          -2.796         0.875          0.765          0              90             0
  46  ShowerHead         1.591          1.700          -2.424         0              90             0
  47  Faucet             -2.676         0.423          -0.312         0              99.958         0
  48  SideTable          -2.847         0.013          1.509          0              90             0
  49  Faucet             -3.106         1.056          0.757          0              90             0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around and side step left so that you are facing the left side of the bathroom counter | STEP 2: Pick up the bottle off of the counter | STEP 3: Turn around and head towards the toilet before making a left turn to end up facing the silver shelves | STEP 4: Set the bottle down on the top shelf | END