Task: Rinse a rag to put in the bathtub.

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           0.900          3.0            0              0              0
   1  Cloth              -2.168         0.542          1.883          0              0              0              30
   2  Cloth              -2.012         0.831          1.545          0              0              0              24
   3  SoapBar            -2.462         0.826          1.439          0              0              0              24
   4  SoapBar            -0.967         0.826          1.968          0              0              0              24
   5  Candle             -3.312         0.546          1.728          0              0              0              29
   6  Candle             -1.109         1.053          4.394          0              270            0              44
   7  SprayBottle        -2.282         0.827          1.862          0              0              0              24
   8  SprayBottle        -1.230         0.827          2.148          0              0              0              24
   9  SoapBottle         -1.064         0.121          3.671          0              90             0              43
  10  SoapBottle         -3.432         0.828          1.545          0              0              0              24
  11  Towel              -4.739         1.522          3.359          0              90             0              36
  12  HandTowel          -3.726         1.646          1.330          0              180            0              42
  13  Candle             -2.205         0.835          2.148          0              0              0              24
  14  HandTowel          -0.923         1.59           2.018          0              90             0              41
  15  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  16  SoapBar            -0.956         1.044          4.263          0              270            0              44
  17  ToiletPaper        -0.967         0.823          1.651          0              0              0              24
  18  Cloth              -1.922         0.831          1.862          0              270            0              24
  19  ToiletPaper        -1.979         0.809          1.695          0              0              0              24
  20  Towel              -4.739         1.522          2.425          0              90             0              37
  21  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  22  SoapBottle         -1.048         1.046          4.460          0              270            0              44
  23  SprayBottle        -1.065         0.120          3.766          0              90             0              43
  24  CounterTop         -2.177         0.782          1.889          0              0              0
  25  Drawer             -1.307         0.606          1.890          0              0              0
  26  Drawer             -1.307         0.337          1.890          0              0              0
  27  Faucet             -4.646         0.448          1.689          0              0              0
  28  ShowerDoor         -4.873         1.235          3.947          0              0              0
  29  Drawer             -3.029         0.337          1.890          0              0              0
  30  Drawer             -2.169         0.606          1.890          0              0              0
  31  Drawer             -3.029         0.606          1.890          0              0              0
  32  Bathtub            -4.080         0.297          2.480          0              345.000        0
  33  Drawer             -2.169         0.337          1.890          0              0              0
  34  Mirror             -2.177         1.856          1.390          0              0              0
  35  Sink               -1.421         0.837          1.776          0              0              0
  36  TowelHolder        -4.846         1.508          3.358          0              90             0
  37  TowelHolder        -4.846         1.508          2.424          0              90             0
  38  LightSwitch        -2.165         1.450          4.972          0              180            0
  39  BathtubBasin       -4.309         0.192          2.328          0              270            0
  40  SinkBasin          -1.442         0.874          1.785          0              0              0
  41  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  42  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  43  GarbageCan         -1.116         -0.037         3.598          0              270            0
  44  Toilet             -1.340         -0.000         4.456          0              0              0
  45  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  46  Faucet             -1.421         0.954          1.507          0              0              0
  47  ShowerHead         -5.257         1.733          4.030          0              90             0
  48  Faucet             -2.944         0.954          1.507          0              0              0
  49  Sink               -2.943         0.837          1.776          0              0              0
  50  SinkBasin          -2.964         0.874          1.785          0              0              0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around to face the sinks. | STEP 2: Pick up the yellow rag closest to the wall. | STEP 3: Walk to the rightmost sink. | STEP 4: Put the yellow rag in the sink to rinse it, taking it back out again afterwards. | STEP 5: Walk across the room to the bathtub. | STEP 6: Place the yellow rag in the bathtub. | END