Task: Clean the rag on the right, put it on the toilet lid.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.900          0.0            0              180            0
   1  Cloth              0.938          0.171          -1.535         0              270            0              37
   2  SoapBar            0.753          0.171          -0.818         0              270            0              37
   3  SoapBar            -0.103         0.908          -1.349         0              0              0              23
   4  Candle             -1.841         1.042          0.009          0              90             0              41
   5  SprayBottle        -1.843         0.017          -1.639         0              0              0              29
   6  SprayBottle        -1.235         0.018          -1.638         0              0              0              20
   7  SoapBottle         -1.843         0.018          -1.435         0              0              0              29
   8  Towel              0.89           1.368          -1.755         0              0              0              33
   9  HandTowel          -2.028         1.492          -1.482         0              270            0              39
  10  SoapBar            -1.963         1.044          0.337          0              90             0              41
  11  ToiletPaper        -1.199         0.919          0.680          0              180            270            34
  12  ToiletPaper        -0.140         0.905          -1.754         0              0              0              23
  13  Cloth              1.062          0.171          -1.105         0              270            0              37
  14  SprayBottle        0.078          0.153          -1.506         0              90             0              40
  15  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  16  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  17  Candle             -2.024         1.042          0.337          0              90             0              41
  18  SoapBottle         -1.933         1.046          0.140          0              90             0              41
  19  Cabinet            -1.052         0.340          -1.327         0              0              0
  20  Cabinet            -1.039         0.340          -1.327         0              0              0
  21  ShowerGlass        0.919          1.417          -0.206         0              0              0
  22  Sink               -1.560         0.811          -1.598         0              0              0
  23  CounterTop         -1.041         0.884          -1.531         0              0              0
  24  ShowerDoor         0.451          0.926          0.696          0              0              0
  25  Faucet             -0.505         0.898          -1.779         0              0              0
  26  Cabinet            -0.071         0.340          -1.327         0              0              0
  27  Mirror             -1.014         1.501          -1.840         0              0              0
  28  Bathtub            0.883          0.392          -1.154         0              0              0
  29  Cabinet            -2.020         0.340          -1.327         0              0              0
  30  Sink               -0.526         0.811          -1.598         0              0              0
  31  Window             1.532          1.672          -1.037         0              0              0
  32  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  33  TowelHolder        0.889          1.353          -1.861         0              0              0
  34  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  35  LightSwitch        0.224          1.333          0.762          0              180            0
  36  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  37  BathtubBasin       0.938          0.160          -1.126         0              270            0
  38  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  39  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  40  GarbageCan         0.122          -0.002         -1.558         0              270            0
  41  Toilet             -1.610         -0.000         0.209          0              180            0
  42  Faucet             -1.537         0.898          -1.779         0              0              0
  43  Faucet             0.929          0.509          -1.978         0              0              0
  44  Faucet             0.890          1.689          0.724          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Move to the tub. | STEP 2: Pick up the rag on the right from the tub.  | STEP 3: Bring the rag to the sink. | STEP 4: Wash the rag in the sink with water.  | STEP 5: Pick up the rag from the sink and bring it to the toilet.  | STEP 6: Put the rag on the toilet tank lid.  | END