Task: Put a cleaned rag on the toilet tank lid.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.900          3.75           0              270            0
   1  TissueBox          -3.770         0.541          0.373          0              90             0              37
   2  TissueBox          -3.540         0.541          1.293          0              90             0              37
   3  Cloth              -3.655         0.541          0.557          0              90             0              37
   4  SoapBar            -3.597         0.541          0.373          0              90             0              37
   5  SoapBar            -2.202         0.034          4.973          0              0              0              36
   6  SprayBottle        -3.540         0.542          0.373          0              90             0              37
   7  SprayBottle        -3.713         0.542          1.477          0              90             0              22
   8  Candle             -0.102         1.053          3.026          0              270            0              41
   9  SoapBottle         -3.828         0.546          1.293          0              90             0              37
  10  HandTowel          -0.112         1.467          4.811          0              270            0              39
  11  Towel              -1.719         1.228          1.846          0              0              0              34
  12  SoapBar            -0.244         0.039          4.709          0              0              0              21
  13  ToiletPaper        -0.153         1.126          3.705          0              270            270            40
  14  TissueBox          -3.540         0.541          0.741          0              90             0              37
  15  Cloth              -1.008         0.964          4.800          0              0              0              27
  16  ToiletPaper        -0.202         1.037          3.182          356.203        0              4.210          41
  17  SprayBottle        -0.224         1.045          3.026          0              270            0              41
  18  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  19  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  20  BathtubBasin       -3.404         0.166          2.904          0              0              0
  21  Cabinet            -0.124         0.364          4.634          0              0              0
  22  Bathtub            -2.896         0.667          2.860          0              0              0
  23  Faucet             -3.475         0.711          3.811          0              0              0
  24  ShowerGlass        0.0            0.0            0.0            0              0              0
  25  ShowerDoor         -0.282         1.228          1.730          0              0              0
  26  Faucet             -1.524         1.047          5.096          0              180            0
  27  CounterTop         -1.023         0.954          4.884          0              0              0
  28  Mirror             -0.975         1.577          5.145          0              0              0
  29  Cabinet            -1.962         0.364          4.634          0              0              0
  30  Cabinet            -1.027         0.364          4.634          0              0              0
  31  Cabinet            -1.059         0.364          4.634          0              0              0
  32  Window             -1.993         1.888          0.144          0              0              0
  33  LightSwitch        -2.496         1.366          5.146          0              180            0
  34  TowelHolder        -1.720         1.213          1.740          0              0              0
  35  TowelHolder        -0.074         1.404          2.424          0              270            0
  36  GarbageCan         -2.346         0.002          4.878          0              180            0
  37  Shelf              -3.713         0.531          0.951          0              90             0
  38  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  39  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  40  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  41  Toilet             -0.517         -0.000         3.220          0              0              0
  42  ShowerHead         -0.182         1.256          0.875          0              0              0
  43  SinkBasin          -0.569         0.986          4.886          0              180            0
  44  Sink               -0.579         0.926          4.874          0              180            0
  45  Sink               -1.524         0.926          4.874          0              180            0
  46  SinkBasin          -1.514         0.986          4.886          0              180            0
  47  Faucet             -0.583         1.047          5.096          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Move to the sink. | STEP 2: Pick up the dirty rag from the counter. | STEP 3: Move to the right sink. | STEP 4: Wash the dirty rag in the sink with water. | STEP 5: Bring the rag to the toilet. | STEP 6: Put the rag on the toilet tank lid. | END