Task: place bottle on toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.903          3.75           0              90             0
   1  Cloth              0.379          0.097          2.545          0              0              0              28
   2  Cloth              -0.858         0.164          0.736          0              0              0              32
   3  SoapBar            0.638          1.047          4.342          0              270            0              35
   4  SoapBar            -0.093         0.704          0.135          0              0              0              23
   5  SprayBottle        -0.145         0.153          1.416          0              90             0              34
   6  SprayBottle        0.306          0.098          2.738          0              0              0              28
   7  SoapBottle         0.306          0.101          2.352          0              0              0              28
   8  SoapBottle         0.672          1.058          3.915          0              0              0              26
   9  Towel              -2.393         1.478          0.580          0              90             0              29
  10  Candle             -1.869         0.713          1.118          0              0              0              23
  11  Cloth              0.232          0.097          3.265          0              0              0              22
  12  HandTowel          0.397          1.656          2.039          0              180            0              33
  13  Plunger            0.480          0.002          4.793          0              0              0
  14  SoapBar            0.699          1.047          4.473          0              270            0              35
  15  ToiletPaper        0.392          1.051          4.049          0              0              0              26
  16  ToiletPaper        0.161          0.094          2.738          0              0              0              28
  17  SoapBottle         -2.243         0.707          0.135          0              0              0              23
  18  SprayBottle        0.449          0.098          3.167          0              0              0              22
  19  ScrubBrush         0.688          0.002          4.867          0              0              0
  20  Sink               0.426          1.037          2.947          0              270            0
  21  Window             -2.548         1.673          2.405          0              0              0
  22  Cabinet            0.068          0.366          3.772          0              0              0
  23  Bathtub            -1.042         0.155          0.558          0              0              0
  24  SinkBasin          0.404          0.926          2.926          0              270            0
  25  Mirror             0.858          1.863          2.972          0              0              0
  26  CounterTop         0.487          1.015          3.090          0              0              0
  27  Faucet             -0.207         0.687          0.546          0              0              0
  28  Cabinet            0.074          0.379          2.045          0              0              0
  29  TowelHolder        -2.5           1.463          0.579          0              90             0
  30  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  31  LightSwitch        -1.121         1.333          5.000          0              180            0
  32  BathtubBasin       -1.062         0.153          0.556          0              0              0
  33  HandTowelHolder    0.398          1.758          2.000          0              270            0
  34  GarbageCan         -0.229         0.001          1.445          0              270            0
  35  Toilet             0.376          0.002          4.470          0              0              0
  36  Faucet             0.661          1.043          3.371          0              270            0
  37  Faucet             0.661          1.043          2.520          0              270            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: go to counter to the left of sink with toilet paper | STEP 2: pick up bottle from behind toilet paper on counter | STEP 3: go to toilet to the left | STEP 4: place bottle on center of toilet tank | END