Task: wash a handkerchief to put on 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              0.25           0.902          3.25           0              180            0
   1  Cloth              -2.554         1.046          1.691          0              90             0              37
   2  Cloth              0.658          0.742          1.442          0              0              0              21
   3  SoapBar            0.416          0.586          0.250          0              0              0              24
   4  Candle             -2.463         1.044          1.822          0              90             0              37
   5  HandTowel          1.033          1.671          3.127          0              90             0              34
   6  Towel              0.931          1.193          0.495          0              270            0              29
   7  SoapBar            -0.106         0.180          0.527          0              0              0              33
   8  ToiletPaper        0.562          0.251          1.281          0              0              0              28
   9  SoapBottle         0.432          0.742          1.514          0              0              0              21
  10  ToiletPaper        -2.603         1.039          1.514          1.051          0              358.832        37
  11  ScrubBrush         -2.557         0.001          2.200          0              0              0
  12  Plunger            -2.568         0.000          1.992          0              0              0
  13  Cloth              -1.979         0.586          0.835          0              0              0              24
  14  Candle             0.521          0.252          2.318          0              0              0              22
  15  SprayBottle        0.615          0.587          0.601          0              0              0              24
  16  Window             -2.808         0.962          0.514          0              0              0
  17  Bathtub            -1.062         0.300          0.427          0              0              0
  18  Drawer             0.409          0.551          1.486          0              0              0
  19  Mirror             0.986          1.676          1.896          0              0              0
  20  ShowerDoor         -2.671         1.001          2.797          0              0              0
  21  CounterTop         0.732          0.697          1.955          0              0              0
  22  Drawer             0.409          0.314          2.420          0              0              0
  23  ShowerGlass        -1.713         1.276          3.298          0              0              0
  24  CounterTop         -0.298         0.157          0.531          0              0              0
  25  Sink               0.812          0.703          1.920          0              270            0
  26  Drawer             0.409          0.551          2.420          0              0              0
  27  Window             -0.957         1.563          -0.059         0              0              0
  28  Drawer             0.409          0.314          1.486          0              0              0
  29  TowelHolder        1.038          1.179          0.495          0              270            0
  30  TowelHolder        0.474          1.168          0.027          0              0              0
  31  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  32  SinkBasin          0.720          0.812          1.896          349.201        270            0
  33  BathtubBasin       -0.721         0.171          0.479          0              0              0
  34  HandTowelHolder    1.071          1.773          3.127          0              180            0
  35  LightSwitch        0.220          1.416          3.998          0              180            0
  36  GarbageCan         0.713          -0.028         3.110          0              0              0
  37  Toilet             -2.232         0.001          1.628          0              180            0
  38  ShowerHead         -2.619         1.819          3.361          0              270            0
  39  Faucet             1.047          1.036          1.921          0              0              0
  40  Faucet             0.318          0.631          0.479          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: walk to the right to face the bathroom sink | STEP 2: pick up the red handkerchief on the right side of the counter next to the sink | STEP 3: walk to the left to face the full bathroom sink | STEP 4: put the handkerchief in the sink basin, wash it with water, pick it up from the sink basin | STEP 5: walk to the toilet on the right side, turn and face the right side of the toilet | STEP 6: put the handkerchief on the toilet tank top in front of the other red handkerchief | END