Task: Put two perfume bottles on the toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.901          1.0            0              270            0
   1  Cloth              -3.446         0.219          0.753          0              0              0              42
   2  Cloth              -0.281         0.806          0.155          0              90             0              26
   3  TissueBox          -0.863         0.508          0.350          0              90             0              24
   4  TissueBox          -0.235         0.508          0.238          0              90             0              30
   5  SoapBar            -3.321         0.220          1.124          0              0              0              42
   6  Candle             -2.247         0.953          2.577          0              180            0              40
   7  SoapBottle         -0.376         0.983          3.207          0              90             0              22
   8  Towel              -2.554         1.597          0.106          0              0              0              33
   9  Cloth              -3.571         0.219          0.382          0              0              0              42
  10  Candle             -1.591         0.807          0.286          0              90             0              26
  11  HandTowel          -0.038         1.68           2.956          0              90             0              37
  12  SoapBar            -3.044         0.691          0.125          0              0              0              27
  13  ToiletPaper        -1.591         0.805          0.090          0              90             0              26
  14  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  15  SprayBottle        -0.805         0.805          0.417          0              90             0              26
  16  TissueBox          -1.269         0.507          0.350          0              90             0              31
  17  ToiletPaper        -1.853         0.805          0.482          0              90             0              26
  18  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  19  SoapBottle         -0.805         0.809          0.221          0              90             0              26
  20  Drawer             -1.324         0.312          0.311          0              90             0
  21  Drawer             -0.290         0.312          0.311          0              90             0
  22  Sink               -0.463         -0.013         3.046          0              180            0
  23  Mirror             -0.504         1.741          3.304          0              0              0
  24  Drawer             -0.808         0.611          0.311          0              90             0
  25  Drawer             -0.808         0.312          0.311          0              90             0
  26  CounterTop         -1.850         0.001          0.342          0              90             0
  27  Bathtub            -3.499         0.148          0.939          0              0              0
  28  Drawer             -1.840         0.312          0.311          0              90             0
  29  Faucet             -0.463         0.969          3.212          0              180            0
  30  Drawer             -0.290         0.611          0.311          0              90             0
  31  Drawer             -1.324         0.611          0.311          0              90             0
  32  Drawer             -1.840         0.611          0.311          0              90             0
  33  TowelHolder        -2.553         1.582          0.0            0              0              0
  34  TowelHolder        -2.553         0.859          0.0            0              0              0
  35  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  36  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  37  HandTowelHolder    0.0            1.781          2.956          0              180            0
  38  LightSwitch        0.0            1.368          1.993          0              270            0
  39  Window             -4.083         1.735          1.162          90             270            0
  40  Toilet             -1.835         0.000          2.503          0              90             0
  41  SinkBasin          -0.452         0.888          2.969          0              180            0
  42  BathtubBasin       -3.518         0.210          0.939          0              0              0
  43  ShowerHead         -3.540         1.821          1.820          0              0              0
  44  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn around and walk until you turn to your right and face a chest of drawers | STEP 2: Pick up a perfume bottle from the chest of drawers | STEP 3: Turn around so you are on the left side of the toilet, facing the toilet paper holder | STEP 4: Set the perfume bottle down on the back of the toilet | STEP 5: Walk to your right and then turn left to face the sink | STEP 6: Pick up a perfume bottle from the sink | STEP 7: Go back to where you were just standing at the toilet | STEP 8: Set this perfume bottle down on the back of the toilet on the far side | END