Task: Move a bottle of lotion to the bathroom counter.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.901          -0.75          0              90             0
   1  Cloth              -2.770         0.079          -1.978         0              0              0              21
   2  Cloth              -2.770         0.078          -0.465         0              0              0              25
   3  Candle             -0.679         1.046          -3.765         0              0              0              35
   4  SprayBottle        -2.678         0.996          -2.188         0              0              0              22
   5  SprayBottle        -2.770         0.080          -0.955         0              0              0              23
   6  SoapBottle         -2.770         0.081          -1.597         0              0              0              27
   7  SoapBottle         -2.567         0.082          -1.008         0              270            0              23
   8  Towel              -1.051         1.535          -2.887         0              90             0              28
   9  HandTowel          -2.591         1.635          -0.047         0              0              0              30
  10  SoapBar            -2.682         0.995          -1.320         0              0              0              22
  11  ToiletPaper        -2.640         0.069          -1.888         0              0              0              21
  12  ToiletPaper        -0.084         0.902          -3.286         0              270            90             35
  13  SoapBottle         -0.679         1.048          -3.856         0              0              0              35
  14  Candle             -0.548         1.046          -3.765         0              0              0              35
  15  ScrubBrush         -1.048         0.000          -3.830         0              0              0              31
  16  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  17  Cloth              -0.432         1.036          -3.861         0              0              0              35
  18  SprayBottle        -2.867         0.996          -0.307         0              0              0              22
  19  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  20  Mirror             -2.947         1.559          -1.194         0              0              0
  21  Cabinet            -2.504         0.400          -2.208         0              0              0
  22  CounterTop         -2.744         0.986          -1.243         0              0              0
  23  Cabinet            -2.504         0.400          -1.238         0              0              0
  24  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  25  Cabinet            -2.508         0.426          -0.290         0              0              0
  26  Sink               -2.907         0.986          -1.761         0              90             0
  27  Cabinet            -2.508         0.426          -1.260         0              0              0
  28  TowelHolder        -1.158         1.521          -2.887         0              90             0
  29  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  30  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  31  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  32  Window             -0.566         1.730          -4.102         90             0              0
  33  LightSwitch        -1.332         1.391          0.001          0              180            0
  34  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  35  Toilet             -0.319         0.000          -3.533         0              90             0
  36  Faucet             -2.907         0.993          -1.761         0              90             0
  37  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  38  Sink               -2.907         0.986          -0.732         0              90             0
  39  Faucet             -2.907         0.993          -0.731         0              90             0
  40  ShowerHead         -2.868         1.219          -3.223         0              180            0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: Turn around completely and walk up to the bathroom counter. | STEP 2: Take out the lotion bottle that is in the left-hand cabinet under the right-hand sink. | STEP 3: Move over to the left a bit. | STEP 4: Place the lotion bottle down on the bathroom counter, to the right of the bar soap.  | END