Task: take a spray bottle from the bathtub to 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              -0.5           0.902          1.75           0              0              0
   1  Cloth              0.658          0.742          2.568          0              0              0              22
   2  Cloth              -0.497         0.181          0.527          0              0              0              34
   3  Candle             -2.555         1.044          1.559          0              90             0              38
   4  Towel              0.931          1.193          0.495          0              270            0              30
   5  ToiletPaper        0.521          0.251          2.728          0              0              0              23
   6  HandTowel          1.033          1.671          3.127          0              90             0              35
   7  Towel              0.474          1.182          0.134          0              0              0              31
   8  SoapBar            0.686          0.254          2.420          0              0              0              23
   9  ToiletPaper        0.432          0.738          1.369          0              0              0              22
  10  SoapBottle         0.549          0.587          0.250          0              0              0              25
  11  ToiletPaper        0.793          0.110          3.063          0              0              0              37
  12  ScrubBrush         -2.557         0.001          2.200          0              0              0
  13  Plunger            -2.568         0.000          1.992          0              0              0
  14  Cloth              0.677          0.830          1.852          349.201        270            0              22
  15  Candle             -2.585         1.044          1.691          0              90             0              38
  16  SprayBottle        -2.098         0.587          0.133          0              0              0              25
  17  Window             -2.808         0.962          0.514          0              0              0
  18  Bathtub            -1.062         0.300          0.427          0              0              0
  19  Drawer             0.409          0.551          1.486          0              0              0
  20  Mirror             0.986          1.676          1.896          0              0              0
  21  ShowerDoor         -2.671         1.001          2.797          0              0              0
  22  CounterTop         0.732          0.697          1.955          0              0              0
  23  Drawer             0.409          0.314          2.420          0              0              0
  24  ShowerGlass        -1.713         1.276          3.298          0              0              0
  25  CounterTop         -0.298         0.157          0.531          0              0              0
  26  Sink               0.812          0.703          1.920          0              270            0
  27  Drawer             0.409          0.551          2.420          0              0              0
  28  Window             -0.957         1.563          -0.059         0              0              0
  29  Drawer             0.409          0.314          1.486          0              0              0
  30  TowelHolder        1.038          1.179          0.495          0              270            0
  31  TowelHolder        0.474          1.168          0.027          0              0              0
  32  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  33  SinkBasin          0.720          0.812          1.896          349.201        270            0
  34  BathtubBasin       -0.721         0.171          0.479          0              0              0
  35  HandTowelHolder    1.071          1.773          3.127          0              180            0
  36  LightSwitch        0.220          1.416          3.998          0              180            0
  37  GarbageCan         0.713          -0.028         3.110          0              0              0
  38  Toilet             -2.232         0.001          1.628          0              180            0
  39  ShowerHead         -2.619         1.819          3.361          0              270            0
  40  Faucet             1.047          1.036          1.921          0              0              0
  41  Faucet             0.318          0.631          0.479          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: go to the right side of the bathtub | STEP 2: take the spray bottle from the back of the tub | STEP 3: take the bottle to the toilet | STEP 4: put the bottle on the back of the toilet | END