Task: put a cloth on the back of the toilet

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          0.901          -2.25          0              0              0
   1  SoapBar            -1.617         0.056          -0.139         0              180            0              24
   2  SprayBottle        -2.770         0.080          -0.901         0              0              0              22
   3  SprayBottle        -0.614         1.046          -3.795         0              0              0              34
   4  SoapBottle         -2.770         0.082          -1.008         0              0              0              22
   5  SoapBottle         -2.567         0.082          -2.032         0              270            0              20
   6  ToiletPaper        -0.745         1.042          -3.918         0              0              0              34
   7  Towel              -1.051         1.535          -2.887         0              90             0              27
   8  HandTowel          -2.591         1.635          -0.047         0              0              0              29
   9  SoapBar            -2.668         0.078          -0.680         0              0              0              24
  10  ToiletPaper        -2.682         0.992          -1.177         0              0              0              21
  11  ToiletPaper        -2.745         0.992          -1.285         0              0              0              21
  12  SoapBottle         -2.719         0.081          -0.411         0              0              0              24
  13  Candle             -2.719         0.080          -0.573         0              0              0              24
  14  ScrubBrush         -1.048         0.000          -3.830         0              0              0              30
  15  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  16  Cloth              -2.668         0.078          -1.435         0              0              0              26
  17  SprayBottle        -2.742         0.996          -2.203         0              0              0              21
  18  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  19  Mirror             -2.947         1.559          -1.194         0              0              0
  20  Cabinet            -2.504         0.400          -2.208         0              0              0
  21  CounterTop         -2.744         0.986          -1.243         0              0              0
  22  Cabinet            -2.504         0.400          -1.238         0              0              0
  23  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  24  Cabinet            -2.508         0.426          -0.290         0              0              0
  25  Sink               -2.907         0.986          -1.761         0              90             0
  26  Cabinet            -2.508         0.426          -1.260         0              0              0
  27  TowelHolder        -1.158         1.521          -2.887         0              90             0
  28  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  29  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  30  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  31  Window             -0.566         1.730          -4.102         90             0              0
  32  LightSwitch        -1.332         1.391          0.001          0              180            0
  33  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  34  Toilet             -0.319         0.000          -3.533         0              90             0
  35  Faucet             -2.907         0.993          -1.761         0              90             0
  36  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  37  Sink               -2.907         0.986          -0.732         0              90             0
  38  Faucet             -2.907         0.993          -0.731         0              90             0
  39  ShowerHead         -2.868         1.219          -3.223         0              180            0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: turn to the left and move to the counter between the two sinks | STEP 2: open the right cabinet door underneath the sink on the left, pick up the red cloth from the cabinet and close the door | STEP 3: turn around and move across the room and turn right to move to the toilet | STEP 4: put the cloth on to the back of the toilet to the left of the spray bottle | END