Task: clean up bottles and put them onto the shelf

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.901          2.5            0              90             0
   1  Cloth              -0.058         0.053          0.654          0              0              0              22
   2  SoapBar            -2.761         1.041          3.919          0              0              0              32
   3  DishSponge         0.355          1.048          3.034          0              270            0              37
   4  SoapBottle         0.355          1.049          3.166          0              270            0              37
   5  Towel              -2.05          1.059          -0.183         0              0              0              27
   6  Towel              -1.304         1.059          -0.183         0              0              0              28
   7  HandTowel          -3.420         1.356          0.816          0              270            0              36
   8  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
   9  SoapBar            -3.093         0.233          0.390          0              270            0              41
  10  ToiletPaper        -0.482         0.784          2.361          0              0              270            29
  11  SoapBottle         0.447          1.049          3.034          0              270            0              37
  12  ToiletPaper        -2.310         0.777          3.875          0              0              0              30
  13  Cloth              -3.150         0.235          0.156          0              270            0              41
  14  PaperTowelRoll     -3.093         0.969          0.156          0              270            0              41
  15  Candle             -3.376         0.236          0.390          0              270            0              41
  16  SprayBottle        0.324          1.048          2.969          0              270            0              37
  17  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  18  DishSponge         -0.227         0.054          1.345          0              0              0              22
  19  Faucet             -0.141         0.524          -0.211         0              0              0
  20  Window             -1.507         1.322          -0.364         0              0              0
  21  Faucet             -3.401         1.017          1.531          0              90             0
  22  BathtubBasin       -0.155         0.042          0.884          0              0              0
  23  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  24  ShowerHead         -0.126         1.447          2.047          0              270            0
  25  Bathtub            -0.205         0.359          0.924          0              0              0
  26  Mirror             -3.447         1.575          1.516          0              0              0
  27  TowelHolder        -2.049         1.045          -0.290         0              0              0
  28  TowelHolder        -1.304         1.045          -0.290         0              0              0
  29  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  30  Shelf              -2.587         0.778          3.909          0              0              0
  31  Shelf              -2.587         1.287          3.941          0              0              0
  32  Shelf              -2.587         1.032          3.941          0              0              0
  33  Shelf              -2.587         1.534          3.909          0              0              0
  34  GarbageCan         0.047          -0.002         3.878          0              0              0
  35  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  36  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  37  Toilet             0.063          0.002          3.096          0              0              0
  38  LightSwitch        -3.459         1.437          2.496          0              90             0
  39  Sink               -3.115         -0.013         1.531          0              90             0
  40  SinkBasin          -3.081         0.935          1.537          0              90             0
  41  SideTable          -3.171         0.002          0.170          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn left and walk straight towards the shelf then turn right and walk straight towards the toilet | STEP 2: pick up the bottle on the top of the toilet on the left | STEP 3: turn right and walk straight to the wall then turn right again and walk straight then turn left then walk straight to the towels and turn right and walk to the shelf | STEP 4: put the bottle down on the top shelf  | STEP 5: turn right and walk straight to the shelf then turn right and walk straight to the toilet | STEP 6: pick up the other bottle on the top of the toilet | STEP 7: turn right and walk straight to the wall then turn right again and walk straight then turn left then walk straight to the towels and turn right and walk to the shelf | STEP 8: put the bottle down next to the other bottle on the shelf | END