Task: put a clean cloth on top of 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              -1.0           0.900          -0.5           0              180            0
   1  Cloth              0.938          0.171          -1.105         0              270            0              40
   2  SoapBar            -1.413         0.909          -1.609         347.851        0              0              41
   3  SoapBar            -0.085         0.908          -1.552         0              0              0              26
   4  Candle             0.497          0.590          -1.724         0              0              0              31
   5  Candle             -2.024         1.042          0.206          0              90             0              44
   6  SprayBottle        -1.841         1.045          0.075          0              90             0              44
   7  SprayBottle        -1.994         1.045          0.075          0              90             0              44
   8  SoapBottle         -1.177         0.019          -1.435         0              0              0              22
   9  SoapBottle         -0.430         0.019          -1.536         0              0              0              29
  10  ToiletPaper        0.119          0.148          -1.567         0              90             0              43
  11  Towel              0.89           1.368          -1.755         0              0              0              36
  12  HandTowel          -2.028         1.492          -1.482         0              270            0              42
  13  SoapBar            0.479          0.591          -0.386         0              0              0              31
  14  ToiletPaper        -1.199         0.919          0.680          0              180            270            37
  15  ToiletPaper        -1.894         1.037          0.023          1.050          0              358.837        44
  16  Cloth              0.938          0.171          -1.392         0              270            0              40
  17  SprayBottle        -0.371         0.018          -1.638         0              0              0              29
  18  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  19  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  20  Candle             -1.411         0.015          -1.435         0              0              0              32
  21  SoapBottle         -1.725         0.018          -1.435         0              0              0              32
  22  Cabinet            -1.052         0.340          -1.327         0              0              0
  23  Cabinet            -1.039         0.340          -1.327         0              0              0
  24  ShowerGlass        0.919          1.417          -0.206         0              0              0
  25  Sink               -1.560         0.811          -1.598         0              0              0
  26  CounterTop         -1.041         0.884          -1.531         0              0              0
  27  ShowerDoor         0.451          0.926          0.696          0              0              0
  28  Faucet             -0.505         0.898          -1.779         0              0              0
  29  Cabinet            -0.071         0.340          -1.327         0              0              0
  30  Mirror             -1.014         1.501          -1.840         0              0              0
  31  Bathtub            0.883          0.392          -1.154         0              0              0
  32  Cabinet            -2.020         0.340          -1.327         0              0              0
  33  Sink               -0.526         0.811          -1.598         0              0              0
  34  Window             1.532          1.672          -1.037         0              0              0
  35  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  36  TowelHolder        0.889          1.353          -1.861         0              0              0
  37  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  38  LightSwitch        0.224          1.333          0.762          0              180            0
  39  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  40  BathtubBasin       0.938          0.160          -1.126         0              270            0
  41  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  42  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  43  GarbageCan         0.122          -0.002         -1.558         0              270            0
  44  Toilet             -1.610         -0.000         0.209          0              180            0
  45  Faucet             -1.537         0.898          -1.779         0              0              0
  46  Faucet             0.929          0.509          -1.978         0              0              0
  47  Faucet             0.890          1.689          0.724          0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: go to the bathtub | STEP 2: pick up the dirty rag on the left | STEP 3: turn around, and go to the far sink, and turn to face the sink. | STEP 4: put the rag in the sink, rinse it off, and pick the it back up. | STEP 5: turn around to face the toilet, and then go to the toilet | STEP 6: put the clean cloth on top of the toilet | END