Task: Place a spray bottle on a counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          0.5            0              0              0
   1  Cloth              -3.602         0.038          0.595          0              0              0              39
   2  TissueBox          -2.347         0.704          -0.585         0              90             0              25
   3  TissueBox          -1.665         0.704          -0.755         0              90             0              25
   4  DishSponge         -1.493         0.443          -0.635         0              90             0              19
   5  Towel              -3.66          1.567          -0.459         0              0              0              32
   6  Candle             -1.749         0.175          -0.586         0              90             0              23
   7  HandTowel          -2.576         1.683          2.244          0              0              0              34
   8  SoapBar            -3.775         0.039          1.150          0              0              0              39
   9  ToiletPaper        -1.380         0.695          -0.751         0              0              0              25
  10  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  11  SprayBottle        -0.857         0.951          -0.775         0              90             0              37
  12  SoapBottle         -3.250         0.615          -0.367         0              0              0              30
  13  TissueBox          -2.120         0.704          -0.642         0              90             0              25
  14  ToiletPaper        -0.607         0.951          -0.695         0              90             0              37
  15  PaperTowelRoll     -1.892         0.809          -0.528         0              90             0              25
  16  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  17  Cloth              -3.775         0.038          0.965          0              0              0              39
  18  DishSponge         -3.176         0.613          0.183          0              0              0              30
  19  Drawer             -1.444         0.531          -0.620         0              90             0
  20  Sink               -1.919         0.441          2.032          0              180            0
  21  Drawer             -2.343         0.531          -0.620         0              90             0
  22  Drawer             -2.343         0.271          -0.620         0              90             0
  23  Drawer             -1.894         0.271          -0.620         0              90             0
  24  Drawer             -2.791         0.271          -0.620         0              90             0
  25  CounterTop         -2.799         0.001          -0.593         0              90             0
  26  Drawer             -1.894         0.531          -0.620         0              90             0
  27  Mirror             -1.909         1.748          2.280          0              0              0
  28  Drawer             -2.791         0.531          -0.620         0              90             0
  29  Drawer             -1.444         0.271          -0.620         0              90             0
  30  Bathtub            -3.706         0.342          0.636          0              0              0
  31  Faucet             -1.919         1.064          2.182          0              180            0
  32  TowelHolder        -3.660         1.552          -0.558         0              0              0
  33  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  34  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  35  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  36  LightSwitch        -0.558         1.282          2.281          0              180            0
  37  Toilet             -0.720         0.001          -0.310         0              0              0
  38  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  39  BathtubBasin       -3.788         0.028          0.595          0              0              0
  40  SinkBasin          -1.908         1.011          1.981          0              180            0
  41  ShowerHead         -3.740         1.858          1.827          0              0              0
  42  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and walk to the toilet | STEP 2: Pick up the yellow spray bottle that is sitting on the back of the toilet | STEP 3: Turn right and head to the bathtub, then make a left and face the long counter with the drawers | STEP 4: Place the spray bottle on the counter in front of the tissue box in the middle | END