Task: Place a clean rag on a toilet tank.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.903          2.5            0              90             0
   1  Cloth              0.232          0.097          3.167          0              0              0              23
   2  Cloth              -1.036         0.164          0.646          0              0              0              33
   3  SoapBar            0.821          1.054          3.472          0              0              0              27
   4  SoapBar            -2.322         0.704          0.863          0              0              0              24
   5  Candle             -1.869         0.713          1.060          0              0              0              24
   6  SprayBottle        -0.167         0.153          1.349          0              90             0              35
   7  SprayBottle        0.219          1.055          2.078          0              0              0              27
   8  SoapBottle         0.449          0.101          3.363          0              0              0              23
   9  ToiletPaper        0.205          1.051          3.848          0              0              0              27
  10  Towel              -2.393         1.478          0.580          0              90             0              30
  11  Candle             0.597          0.106          2.738          0              0              0              29
  12  Cloth              -1.391         0.164          0.375          0              0              0              33
  13  HandTowel          0.397          1.656          2.039          0              180            0              34
  14  Plunger            0.480          0.002          4.793          0              0              0
  15  SoapBar            -0.680         0.164          0.465          0              0              0              33
  16  ToiletPaper        -0.636         0.701          1.060          0              0              0              24
  17  ToiletPaper        0.112          1.051          2.139          0              0              0              27
  18  SoapBottle         0.234          0.101          2.448          0              0              0              29
  19  SprayBottle        0.597          0.098          2.158          0              0              0              29
  20  ScrubBrush         0.688          0.002          4.867          0              0              0
  21  Sink               0.426          1.037          2.947          0              270            0
  22  Window             -2.548         1.673          2.405          0              0              0
  23  Cabinet            0.068          0.366          3.772          0              0              0
  24  Bathtub            -1.042         0.155          0.558          0              0              0
  25  SinkBasin          0.404          0.926          2.926          0              270            0
  26  Mirror             0.858          1.863          2.972          0              0              0
  27  CounterTop         0.487          1.015          3.090          0              0              0
  28  Faucet             -0.207         0.687          0.546          0              0              0
  29  Cabinet            0.074          0.379          2.045          0              0              0
  30  TowelHolder        -2.5           1.463          0.579          0              90             0
  31  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  32  LightSwitch        -1.121         1.333          5.000          0              180            0
  33  BathtubBasin       -1.062         0.153          0.556          0              0              0
  34  HandTowelHolder    0.398          1.758          2.000          0              270            0
  35  GarbageCan         -0.229         0.001          1.445          0              270            0
  36  Toilet             0.376          0.002          4.470          0              0              0
  37  Faucet             0.661          1.043          3.371          0              270            0
  38  Faucet             0.661          1.043          2.520          0              270            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Walk ahead to the left basin of the sink. | STEP 2: Take the rag out of the cabinet on the bottom left. | STEP 3: Walk right a step. | STEP 4: Wash the towel in the sink. | STEP 5: Take a few steps left. | STEP 6: Place the rag on top of the toilet tank. | END