Task: put spray bottle inside cabinet under sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.909          2.0            0              0              0
   1  Cloth              -2.915         0.603          1.426          0              0              0              37
   2  Cloth              -2.073         0.111          0.544          0              0              0              36
   3  SoapBar            -1.464         0.599          1.128          0              0              0              26
   4  SoapBottle         -1.240         0.601          0.855          0              0              0              26
   5  Towel              0.402          1.389          3.359          0              180            0              35
   6  HandTowel          -0.242         1.76           3.427          0              0              0              40
   7  Plunger            -0.219         0.026          0.490          0              0              0
   8  SoapBar            -0.759         0.969          3.049          0              180            0              21
   9  ToiletPaper        -2.234         0.051          3.155          0              0              0              29
  10  SoapBottle         -1.797         0.601          1.128          0              0              0              26
  11  ToiletPaper        -0.138         0.058          3.297          0              0              0              38
  12  Towel              0.861          1.358          2.855          0              270            0              34
  13  PaperTowelRoll     -1.266         0.705          0.982          0              0              0              26
  14  ScrubBrush         -0.351         0.026          0.353          0              0              0
  15  Cloth              -2.725         0.111          0.725          0              0              0              36
  16  Candle             -2.915         0.597          1.301          0              0              0              37
  17  DishSponge         -0.386         1.106          3.369          0              0              0              23
  18  SprayBottle        -0.757         1.072          0.394          0              0              0              42
  19  Window             -3.447         1.593          0.648          0              0              0
  20  Mirror             -1.386         1.595          3.464          0              0              0
  21  SinkBasin          -0.837         0.960          3.091          0              180            0
  22  ShowerDoor         -2.477         1.774          2.386          0              0              0
  23  CounterTop         -1.358         1.094          3.151          0              0              0
  24  Sink               -0.846         0.952          3.144          0              180            0
  25  Cabinet            -1.399         0.425          2.867          0              0              0
  26  Bathtub            -2.234         0.288          0.722          0              0              0
  27  Cabinet            -0.337         0.425          2.867          0              0              0
  28  Cabinet            -1.362         0.425          2.867          0              0              0
  29  Cabinet            -2.423         0.425          2.867          0              0              0
  30  ShowerGlass        -2.895         1.423          2.342          0              0              0
  31  Faucet             -0.853         1.094          3.367          0              180            0
  32  ShowerHead         -2.949         2.154          3.427          0              0              0
  33  Window             -2.190         1.550          0.086          0              0              0
  34  TowelHolder        0.967          1.343          2.855          0              270            0
  35  TowelHolder        0.402          1.375          3.466          0              180            0
  36  BathtubBasin       -2.322         0.096          0.634          0              0              0
  37  Shelf              -2.930         0.589          1.425          0              0              0
  38  GarbageCan         -0.061         -0.001         3.131          0              270            0
  39  LightSwitch        0.968          1.432          1.128          0              270            0
  40  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  41  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  42  Toilet             -0.694         0.026          0.656          0              90             0
  43  Faucet             -1.944         1.094          3.367          0              180            0
  44  Sink               -1.934         0.952          3.144          0              180            0
  45  SinkBasin          -1.926         0.960          3.091          0              180            0
  46  Faucet             -1.342         0.638          0.629          0              90             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: walk to face left side of toilet | STEP 2: pick up spray bottle from toilet tank top | STEP 3: walk to face cabinets under right hand sink | STEP 4: put spray bottle inside cabinet | END