Task: pick up the black clothing from the toilet and bring to the cart

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.901          0.75           0              270            0
   1  SoapBar            -2.574         1.296          3.942          0              0              0              29
   2  SoapBar            -3.263         0.235          0.156          0              270            0              39
   3  SprayBottle        -2.855         1.544          3.879          0              0              0              31
   4  Towel              -1.304         1.059          -0.183         0              0              0              26
   5  HandTowel          -3.420         1.356          0.816          0              270            0              34
   6  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
   7  SoapBar            -0.227         0.052          0.193          0              0              0              20
   8  ToiletPaper        -0.819         0.039          3.887          0              0              0              32
   9  SoapBottle         -0.962         0.045          3.805          0              0              0              32
  10  ToiletPaper        -2.310         0.777          3.875          0              0              0              28
  11  Cloth              0.385          1.047          3.034          0              270            0              35
  12  PaperTowelRoll     -2.761         0.894          3.970          0              0              0              28
  13  Candle             0.294          1.048          3.231          0              270            0              35
  14  SprayBottle        -2.667         1.544          3.970          0              0              0              31
  15  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  16  DishSponge         -3.166         0.856          1.571          0              90             0              38
  17  Faucet             -0.141         0.524          -0.211         0              0              0
  18  Window             -1.507         1.322          -0.364         0              0              0
  19  Faucet             -3.401         1.017          1.531          0              90             0
  20  BathtubBasin       -0.155         0.042          0.884          0              0              0
  21  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  22  ShowerHead         -0.126         1.447          2.047          0              270            0
  23  Bathtub            -0.205         0.359          0.924          0              0              0
  24  Mirror             -3.447         1.575          1.516          0              0              0
  25  TowelHolder        -2.049         1.045          -0.290         0              0              0
  26  TowelHolder        -1.304         1.045          -0.290         0              0              0
  27  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  28  Shelf              -2.587         0.778          3.909          0              0              0
  29  Shelf              -2.587         1.287          3.941          0              0              0
  30  Shelf              -2.587         1.032          3.941          0              0              0
  31  Shelf              -2.587         1.534          3.909          0              0              0
  32  GarbageCan         0.047          -0.002         3.878          0              0              0
  33  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  34  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  35  Toilet             0.063          0.002          3.096          0              0              0
  36  LightSwitch        -3.459         1.437          2.496          0              90             0
  37  Sink               -3.115         -0.013         1.531          0              90             0
  38  SinkBasin          -3.081         0.935          1.537          0              90             0
  39  SideTable          -3.171         0.002          0.170          0              270            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: turn right then walk towards the trash can turn right towards the toilet | STEP 2: pull black clothing off the top of the toilet | STEP 3: turn around then turn right walk to the wall then turn right to the cart | STEP 4: place black clothing on the cart | END