Task: To move two lotion bottles to the second shelf from the top of the metal rack.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.901          3.25           0              270            0
   1  Cloth              -2.667         0.788          3.909          0              0              0              35
   2  Cloth              0.025          0.053          0.193          0              0              0              27
   3  SoapBar            -3.150         0.233          0.312          0              270            0              46
   4  SoapBar            -3.166         0.855          1.451          0              90             0              45
   5  Candle             -3.037         0.236          0.078          0              270            0              46
   6  SprayBottle        -3.319         0.236          0.078          0              270            0              46
   7  SprayBottle        0.355          1.048          3.034          0              270            0              42
   8  SoapBottle         -2.293         1.545          3.940          0              0              0              38
   9  Towel              -1.304         1.059          -0.183         0              0              0              33
  10  HandTowel          -3.420         1.356          0.817          0              270            0              41
  11  Towel              -2.05          1.059          -0.183         0              0              0              32
  12  HandTowel          -3.419         1.338          2.102          0              270            0              40
  13  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  14  SoapBar            -3.037         0.233          0.312          0              270            0              46
  15  ToiletPaper        0.355          1.043          3.297          0              270            0              42
  16  SoapBottle         -0.771         0.045          3.86           0              0              0              39
  17  ToiletPaper        -2.310         0.777          3.875          0              0              0              35
  18  Cloth              -0.058         0.053          0.884          0              0              0              27
  19  PaperTowelRoll     -0.867         0.149          3.805          0              0              0              39
  20  Candle             0.234          0.632          -0.205         0              47.956         0              30
  21  SprayBottle        -3.150         0.864          -0.077         0              270            0              46
  22  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  23  DishSponge         -3.150         0.864          0.390          0              270            0              46
  24  Faucet             -0.141         0.524          -0.211         0              0              0
  25  Window             -1.507         1.322          -0.364         0              0              0
  26  Faucet             -3.401         1.017          1.531          0              90             0
  27  BathtubBasin       -0.155         0.042          0.884          0              0              0
  28  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  29  ShowerHead         -0.126         1.447          2.047          0              270            0
  30  Bathtub            -0.205         0.359          0.924          0              0              0
  31  Mirror             -3.447         1.575          1.516          0              0              0
  32  TowelHolder        -2.049         1.045          -0.290         0              0              0
  33  TowelHolder        -1.304         1.045          -0.290         0              0              0
  34  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  35  Shelf              -2.587         0.778          3.909          0              0              0
  36  Shelf              -2.587         1.287          3.941          0              0              0
  37  Shelf              -2.587         1.032          3.941          0              0              0
  38  Shelf              -2.587         1.534          3.909          0              0              0
  39  GarbageCan         0.047          -0.002         3.878          0              0              0
  40  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  41  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  42  Toilet             0.063          0.002          3.096          0              0              0
  43  LightSwitch        -3.459         1.437          2.496          0              90             0
  44  Sink               -3.115         -0.013         1.531          0              90             0
  45  SinkBasin          -3.081         0.935          1.537          0              90             0
  46  SideTable          -3.171         0.002          0.170          0              270            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn right and look up to face the top shelf on the wall. | STEP 2: Pick up the lotion bottle on the top shelf on the wall. | STEP 3: Turn around and cross the room and turn right to face the metal rack. | STEP 4: Place the lotion on the metal rack on the second shelf from the top. | STEP 5: Turn right and walk across the room to face the trash can. | STEP 6: Pick up the lotion bottle in the trash can. | STEP 7: Turn around and cross the room and turn right to face the metal rack. | STEP 8: Place the lotion on the rack next to the first lotion. | END