Task: Rinse a white rag from the bathtub to put it on the lid of the 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              -1.5           0.900          -2.25          0              270            0
   1  Cloth              -2.694         0.997          -2.125         0              0              0              22
   2  Cloth              -2.587         0.085          -1.110         0              90             0              28
   3  SoapBar            -2.841         0.992          -2.657         0              0              0              22
   4  SoapBottle         -0.251         0.045          -2.772         0              90             0              30
   5  HandTowel          -0.038         1.481          -2.661         0              90             0              25
   6  SoapBar            -0.334         0.868          -2.077         0              0              0              27
   7  ToiletPaper        -2.512         0.090          -2.296         0              0              0              21
   8  ToiletPaper        -2.620         0.989          -2.657         0              0              0              22
   9  Towel              -1.338         1.193          -0.106         0              180            0              23
  10  SoapBottle         -2.841         0.994          -2.391         0              0              0              22
  11  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  12  Cloth              -0.116         1.166          -3.300         0              90             0              36
  13  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  14  Candle             -2.547         0.991          -2.391         0              0              0              22
  15  SprayBottle        -0.116         1.162          -3.693         0              90             0              36
  16  Bathtub            -2.104         0.524          -0.828         0              0              0
  17  Faucet             -0.040         1.017          -2.076         0              270            0
  18  Sink               -0.307         0.0            -2.076         0              270            0
  19  Mirror             -2.983         1.565          -2.900         0              0              0
  20  Shelf              -2.581         0.395          -2.923         0              0              0
  21  Shelf              -2.539         0.130          -2.923         0              0              0
  22  CounterTop         -2.704         1.029          -2.923         0              0              0
  23  TowelHolder        -1.338         1.179          0.0            0              180            0
  24  LightSwitch        -0.363         1.330          -3.999         0              0              0
  25  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  26  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  27  SinkBasin          -0.310         0.859          -2.076         0              0              0
  28  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  29  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  30  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  31  Toilet             -0.411         -0.000         -0.547         0              0              0
  32  Drawer             -0.229         0.161          -3.398         0              270            0
  33  Drawer             -0.229         0.420          -3.398         0              270            0
  34  Drawer             -0.229         0.680          -3.398         0              270            0
  35  Drawer             -0.229         0.940          -3.398         0              270            0
  36  Dresser            -0.205         0.000          -3.398         0              270            0
  37  ShowerHead         -2.579         1.261          -0.064         0              270            0
  38  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  39  EastWall
  40  EastWall
  41  SouthWall

Plan:
STEP 1: Turn around to walk towards the bathtub. | STEP 2: Pick up a white rag from the bathtub. | STEP 3: Turn around to walk towards the sink on the opposite wall. | STEP 4: Rinse the white rag in the sink, removing it again. | STEP 5: Turn around to face the toilet. | STEP 6: Set the white rag down on the lid of the toilet tank. | END