Task: Put a cleaned rag on the toilet tank lid.

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          0.900          3.75           0              90             0
   1  TissueBox          -3.597         0.541          0.925          0              90             0              40
   2  TissueBox          -3.828         0.541          0.373          0              90             0              40
   3  Cloth              -1.051         0.964          4.734          0              0              0              30
   4  Cloth              -3.305         0.185          3.584          0              347.395        0              23
   5  Cloth              -0.193         1.045          3.354          0              270            0              44
   6  SprayBottle        -3.655         0.542          0.557          0              90             0              40
   7  SprayBottle        -3.713         0.542          1.109          0              90             0              40
   8  Towel              -1.719         1.228          1.846          0              0              0              37
   9  HandTowel          -2.094         1.442          5.107          0              0              0              41
  10  ToiletPaper        -0.761         0.034          5.066          0              0              0              33
  11  Candle             -1.846         0.046          4.827          0              0              0              32
  12  SoapBottle         -3.828         0.546          1.109          0              90             0              40
  13  HandTowel          -0.112         1.467          4.811          0              270            0              42
  14  Towel              -0.181         1.419          2.425          0              270            0              38
  15  SoapBar            -3.144         0.676          3.986          0              270            0              25
  16  ToiletPaper        -0.163         1.041          3.092          0              270            0              44
  17  TissueBox          -3.597         0.541          0.741          0              90             0              40
  18  Cloth              -3.828         0.541          0.741          0              90             0              40
  19  ToiletPaper        -0.153         1.126          3.705          0              270            270            43
  20  SprayBottle        -1.229         0.040          4.769          0              0              0              34
  21  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  22  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  23  BathtubBasin       -3.404         0.166          2.904          0              0              0
  24  Cabinet            -0.124         0.364          4.634          0              0              0
  25  Bathtub            -2.896         0.667          2.860          0              0              0
  26  Faucet             -3.475         0.711          3.811          0              0              0
  27  ShowerGlass        0.0            0.0            0.0            0              0              0
  28  ShowerDoor         -0.282         1.228          1.730          0              0              0
  29  Faucet             -1.524         1.047          5.096          0              180            0
  30  CounterTop         -1.023         0.954          4.884          0              0              0
  31  Mirror             -0.975         1.577          5.145          0              0              0
  32  Cabinet            -1.962         0.364          4.634          0              0              0
  33  Cabinet            -1.027         0.364          4.634          0              0              0
  34  Cabinet            -1.059         0.364          4.634          0              0              0
  35  Window             -1.993         1.888          0.144          0              0              0
  36  LightSwitch        -2.496         1.366          5.146          0              180            0
  37  TowelHolder        -1.720         1.213          1.740          0              0              0
  38  TowelHolder        -0.074         1.404          2.424          0              270            0
  39  GarbageCan         -2.346         0.002          4.878          0              180            0
  40  Shelf              -3.713         0.531          0.951          0              90             0
  41  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  42  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  43  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  44  Toilet             -0.517         -0.000         3.220          0              0              0
  45  ShowerHead         -0.182         1.256          0.875          0              0              0
  46  SinkBasin          -0.569         0.986          4.886          0              180            0
  47  Sink               -0.579         0.926          4.874          0              180            0
  48  Sink               -1.524         0.926          4.874          0              180            0
  49  SinkBasin          -1.514         0.986          4.886          0              180            0
  50  Faucet             -0.583         1.047          5.096          0              180            0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Move to the sink. | STEP 2: Pick up the dirty purple rag from the counter.  | STEP 3: Bring the rag to the sink on the left.  | STEP 4: Wash the rag in the sink on the left.  | STEP 5: Bring the rag to the toilet.  | STEP 6: Put the rag on the toilet tank lid. | END