Task: Place a clean cloth on top of the toilet cistern.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          0.0            0              90             0
   1  Cloth              0.419          0.034          -0.546         0              270            0              31
   2  Cloth              0.419          0.034          0.340          0              270            0              31
   3  SprayBottle        -2.813         0.082          0.502          0              0              0              20
   4  SprayBottle        -0.926         1.047          0.814          0              180            0              35
   5  SoapBottle         -2.992         0.083          0.567          0              180            0              18
   6  SoapBottle         -2.902         0.083          0.889          0              90             0              18
   7  Towel              -0.490         1.367          0.902          0              180            0              29
   8  Candle             -1.642         0.122          0.889          0              0              0              22
   9  HandTowel          -3.096         1.587          0.744          0              270            0              33
  10  SoapBar            -0.173         0.516          -0.333         0              0              0              21
  11  ToiletPaper        -3.066         0.958          0.488          0              0              0              19
  12  Cloth              -1.777         0.081          0.567          0              90             0              22
  13  ToiletPaper        -0.865         1.038          0.946          357.597        0              0              35
  14  SprayBottle        -2.890         0.184          -1.56          0              0              0              30
  15  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  16  SoapBottle         -2.957         0.184          -1.56          0              0              0              30
  17  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  18  Cabinet            -3.094         0.390          0.421          0              0              0
  19  CounterTop         -2.298         0.953          0.689          0              0              0
  20  Cabinet            -2.305         0.415          0.425          0              0              0
  21  Bathtub            0.286          0.290          -0.077         0              0              0
  22  Cabinet            -1.496         0.415          0.425          0              0              0
  23  Cabinet            -2.286         0.390          0.421          0              0              0
  24  Sink               -1.924         0.930          0.675          0              180            0
  25  Faucet             -1.922         1.015          0.887          0              0              0
  26  Mirror             -2.306         1.526          1.001          0              0              0
  27  Faucet             -2.681         1.015          0.887          0              0              0
  28  LightSwitch        -1.389         1.263          -1.693         0              0              0
  29  TowelHolder        -0.490         1.353          1.009          0              180            0
  30  GarbageCan         -2.857         0.016          -1.487         0              0              0
  31  BathtubBasin       0.349          0.023          -0.135         0              270            0
  32  SinkBasin          -1.908         0.961          0.669          0              180            0
  33  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  34  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  35  Toilet             -1.054         0.001          0.552          0              270            0
  36  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  37  Faucet             0.270          0.670          0.906          0              0              0
  38  SinkBasin          -2.666         0.961          0.669          0              180            0
  39  Sink               -2.681         0.930          0.675          0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around, move forward towards the wall, then turn right and face the sink. | STEP 2: Open cabinet beneath the sink closest to the toilet, take the dirty cloth and then close the cabinet. | STEP 3: Move up to the sink counter. | STEP 4: Place the dirty cloth in the sink, turn on both faucets, turn off both faucets, then pick up the cloth. | STEP 5: Turn right and move to the bath tub then turn left and move to the bath towel and then turn left and face the toilet. | STEP 6: Place the cloth on the top of the toilet cistern to the left of the spray bottle. | END