Task: Clean a cloth and place it 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              -2.5           0.904          0.0            0              0              0
   1  Candle             -3.096         1.870          1.315          0              0              0              26
   2  Candle             -2.838         0.110          0.437          0              0              0              24
   3  SoapBottle         -3.105         0.051          0.869          0              0              0              30
   4  SoapBottle         -3.165         0.111          -0.122         0              0              0              24
   5  HandTowel          -3.321         1.464          0.762          0              270            0              33
   6  Towel              -1.615         1.398          1.800          0              180            0              31
   7  HandTowel          -2.96          1.593          -0.728         0              180            0              32
   8  SoapBar            -1.066         0.512          0.331          0              0              0              22
   9  ToiletPaper        -3.246         1.039          1.143          0              0              0              36
  10  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             35
  11  Candle             -2.810         1.003          0.580          0              0              0              29
  12  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  13  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  14  SoapBottle         -1.066         0.514          0.833          0              0              0              22
  15  Cloth              -0.476         0.033          0.581          0              0              0              27
  16  SprayBottle        -3.184         1.870          1.214          0              0              0              26
  17  Faucet             -0.618         0.667          1.805          0              0              0
  18  Cabinet            -2.761         0.446          0.599          0              0              0
  19  Cabinet            -2.756         0.421          -0.759         0              0              0
  20  Cabinet            -2.905         2.098          1.878          0              0              0
  21  Sink               -3.016         0.865          0.207          0              90             0
  22  Bathtub            -0.603         0.286          0.832          0              0              0
  23  SinkBasin          -3.016         0.874          0.217          0              90             0
  24  Cabinet            -2.756         0.421          -0.272         0              0              0
  25  Faucet             -3.313         0.989          0.207          0              90             0
  26  Cabinet            -2.900         2.053          1.005          0              0              0
  27  BathtubBasin       -0.558         0.023          0.811          0              0              0
  28  Mirror             -3.348         1.476          0.020          0              0              0
  29  CounterTop         -3.049         1.039          -0.442         0              0              0
  30  GarbageCan         -3.080         -0.007         0.899          0              0              0
  31  TowelHolder        -1.615         1.383          1.907          0              180            0
  32  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  33  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  34  LightSwitch        -2.313         1.426          -0.766         0              0              0
  35  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  36  Toilet             -2.931         0.003          1.364          0              180            0
  37  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn to the right and face the bath tub. | STEP 2: Pick up the cloth from inside the bath tub. | STEP 3: Carry the cloth and turn around to the sink. | STEP 4: Place the cloth inside the sink and turn on the water. Turn off the water and pick up the cloth. | STEP 5: Carry the cloth and move a step to the right. | STEP 6: Place the cloth on the toilet tank. | END