Task: Place a clean rag on a 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              -1.25          0.900          -0.75          0              90             0
   1  Candle             -2.915         0.991          -2.391         0              0              0              23
   2  Candle             -0.051         1.163          -3.595         0              90             0              37
   3  SprayBottle        -2.473         0.993          -2.923         0              0              0              23
   4  SoapBar            -2.536         0.093          -2.714         0              0              0              22
   5  SoapBottle         -0.221         0.045          -2.772         0              90             0              31
   6  HandTowel          -0.038         1.481          -2.661         0              90             0              26
   7  SoapBar            -2.841         0.992          -2.923         0              0              0              23
   8  ToiletPaper        -0.162         0.091          -3.471         0              90             0              33
   9  ToiletPaper        -2.473         0.989          -2.657         0              0              0              23
  10  Towel              -1.338         1.193          -0.106         0              180            0              24
  11  SoapBottle         -2.536         0.095          -2.923         0              0              0              22
  12  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  13  Cloth              -2.587         0.085          -0.391         0              90             0              29
  14  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  15  Candle             -2.547         0.991          -2.391         0              0              0              23
  16  SprayBottle        -0.083         1.166          -3.693         0              90             0              37
  17  Bathtub            -2.104         0.524          -0.828         0              0              0
  18  Faucet             -0.040         1.017          -2.076         0              270            0
  19  Sink               -0.307         0.0            -2.076         0              270            0
  20  Mirror             -2.983         1.565          -2.900         0              0              0
  21  Shelf              -2.581         0.395          -2.923         0              0              0
  22  Shelf              -2.539         0.130          -2.923         0              0              0
  23  CounterTop         -2.704         1.029          -2.923         0              0              0
  24  TowelHolder        -1.338         1.179          0.0            0              180            0
  25  LightSwitch        -0.363         1.330          -3.999         0              0              0
  26  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  27  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  28  SinkBasin          -0.310         0.859          -2.076         0              0              0
  29  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  30  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  31  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  32  Toilet             -0.411         -0.000         -0.547         0              0              0
  33  Drawer             -0.229         0.161          -3.398         0              270            0
  34  Drawer             -0.229         0.420          -3.398         0              270            0
  35  Drawer             -0.229         0.680          -3.398         0              270            0
  36  Drawer             -0.229         0.940          -3.398         0              270            0
  37  Dresser            -0.205         0.000          -3.398         0              270            0
  38  ShowerHead         -2.579         1.261          -0.064         0              270            0
  39  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the dirty white rag in the tub. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the towel in the sink. | STEP 5: Turn and face the right side of the toilet. | STEP 6: Place the rag on top of the toilet tank. | END