Task: Place a washed green rag on top of the 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              -0.75          0.901          1.25           0              0              0
   1  Cloth              -3.571         0.219          0.382          0              0              0              41
   2  Cloth              -1.853         0.806          0.155          0              90             0              25
   3  Candle             -1.951         0.200          0.238          0              90             0              27
   4  SprayBottle        -1.067         0.805          0.482          0              90             0              25
   5  Towel              -2.554         1.597          0.106          0              0              0              32
   6  ToiletPaper        -1.269         0.505          0.294          0              90             0              30
   7  Towel              -2.554         0.873          0.106          0              0              0              33
   8  Cloth              -1.784         0.199          0.238          0              90             0              27
   9  Candle             -2.327         0.953          2.515          0              180            0              39
  10  HandTowel          -0.038         1.68           2.956          0              90             0              36
  11  SoapBar            -0.543         0.808          0.286          0              90             0              25
  12  ToiletPaper        -1.895         0.503          0.238          0              90             0              27
  13  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  14  SprayBottle        -0.845         0.033          3.149          0              204.683        0              34
  15  TissueBox          -0.805         0.808          0.221          0              90             0              25
  16  ToiletPaper        -0.179         0.199          0.238          0              90             0              20
  17  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  18  SoapBottle         -1.329         0.809          0.221          0              90             0              25
  19  Drawer             -1.324         0.312          0.311          0              90             0
  20  Drawer             -0.290         0.312          0.311          0              90             0
  21  Sink               -0.463         -0.013         3.046          0              180            0
  22  Mirror             -0.504         1.741          3.304          0              0              0
  23  Drawer             -0.808         0.611          0.311          0              90             0
  24  Drawer             -0.808         0.312          0.311          0              90             0
  25  CounterTop         -1.850         0.001          0.342          0              90             0
  26  Bathtub            -3.499         0.148          0.939          0              0              0
  27  Drawer             -1.840         0.312          0.311          0              90             0
  28  Faucet             -0.463         0.969          3.212          0              180            0
  29  Drawer             -0.290         0.611          0.311          0              90             0
  30  Drawer             -1.324         0.611          0.311          0              90             0
  31  Drawer             -1.840         0.611          0.311          0              90             0
  32  TowelHolder        -2.553         1.582          0.0            0              0              0
  33  TowelHolder        -2.553         0.859          0.0            0              0              0
  34  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  35  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  36  HandTowelHolder    0.0            1.781          2.956          0              180            0
  37  LightSwitch        0.0            1.368          1.993          0              270            0
  38  Window             -4.083         1.735          1.162          90             270            0
  39  Toilet             -1.835         0.000          2.503          0              90             0
  40  SinkBasin          -0.452         0.888          2.969          0              180            0
  41  BathtubBasin       -3.518         0.210          0.939          0              0              0
  42  ShowerHead         -3.540         1.821          1.820          0              0              0
  43  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: turn to the left and take a few steps and turn to the left and go to the counter top | STEP 2: take the green rag from the counter top | STEP 3: turn to the left and take few steps and turn to the left and go to the wall and turn to the right and go to the sink | STEP 4: put the green rag in the sink and turn on the water to fill the sink and turn off and drain the water from the sink and pick up the green rag from the sink | STEP 5: turn to the right and take a few steps and turn to the right and take a few steps and turn to the right facing the toilet | STEP 6: put the green ran on top of the toilet tank | END