Task: Put the washed rag on 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              -1.5           0.903          4.0            0              0              0
   1  Cloth              0.305          0.097          3.460          0              0              0              16
   2  SoapBottle         0.234          0.101          2.642          0              0              0              22
   3  Towel              -2.393         1.478          0.580          0              90             0              23
   4  Candle             0.668          1.056          4.342          0              270            0              29
   5  Cloth              -0.680         0.164          0.646          0              0              0              26
   6  HandTowel          0.397          1.656          2.039          0              180            0              27
   7  Plunger            0.480          0.002          4.793          0              0              0
   8  SoapBar            0.485          1.054          3.848          0              0              0              20
   9  ToiletPaper        0.672          1.051          3.915          0              0              0              20
  10  ToiletPaper        0.485          1.051          3.713          0              0              0              20
  11  SoapBottle         0.452          0.101          2.352          0              0              0              22
  12  SprayBottle        -0.122         0.153          1.416          0              90             0              28
  13  ScrubBrush         0.688          0.002          4.867          0              0              0
  14  Sink               0.426          1.037          2.947          0              270            0
  15  Window             -2.548         1.673          2.405          0              0              0
  16  Cabinet            0.068          0.366          3.772          0              0              0
  17  Bathtub            -1.042         0.155          0.558          0              0              0
  18  SinkBasin          0.404          0.926          2.926          0              270            0
  19  Mirror             0.858          1.863          2.972          0              0              0
  20  CounterTop         0.487          1.015          3.090          0              0              0
  21  Faucet             -0.207         0.687          0.546          0              0              0
  22  Cabinet            0.074          0.379          2.045          0              0              0
  23  TowelHolder        -2.5           1.463          0.579          0              90             0
  24  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  25  LightSwitch        -1.121         1.333          5.000          0              180            0
  26  BathtubBasin       -1.062         0.153          0.556          0              0              0
  27  HandTowelHolder    0.398          1.758          2.000          0              270            0
  28  GarbageCan         -0.229         0.001          1.445          0              270            0
  29  Toilet             0.376          0.002          4.470          0              0              0
  30  Faucet             0.661          1.043          3.371          0              270            0
  31  Faucet             0.661          1.043          2.520          0              270            0
  32  NorthWall
  33  EastWall
  34  SouthWall
  35  WestWall

Plan:
STEP 1: Turn  left and walk up to the left sink | STEP 2: Open the left cabinet below the left sink and remove the dirty rag | STEP 3: Walk slightly right then turn back left to face the left sink | STEP 4: Wash the rag in the sink and remove it | STEP 5: Turn left and walk over to the toilet left of the counter | STEP 6: Put the rag on top of the back of the toilet | END