Task: Clean the rag to put back in the tub

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          0.903          1.5            0              90             0
   1  Cloth              -1.471         1.074          2.157          0              0              0              33
   2  Cloth              0.124          0.048          0.384          0              0              0              32
   3  Cloth              -1.144         1.777          2.157          0              0              0              31
   4  SoapBar            -1.144         0.288          2.157          0              0              0              29
   5  Candle             -0.653         1.111          2.067          0              0              0              33
   6  Candle             -1.949         1.088          -0.674         0              0              0              38
   7  SprayBottle        -2.212         1.048          -0.705         0              0              0              38
   8  SprayBottle        -2.343         1.048          -0.766         0              0              0              38
   9  SoapBottle         -1.308         0.291          2.157          0              0              0              29
  10  SoapBottle         -1.635         1.072          2.127          0              0              0              33
  11  HandTowel          -1.743         1.502          -0.846         0              180            0              34
  12  Candle             -0.164         0.650          1.653          0              45             0              25
  13  HandTowel          -0.541         1.502          -0.846         0              180            0              35
  14  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  15  SoapBar            0.371          0.043          0.384          0              0              0              32
  16  ToiletPaper        -0.246         0.606          -0.445         0              315            0              25
  17  SoapBottle         -1.707         0.083          -0.655         0              270            0              36
  18  TissueBox          -0.653         0.289          2.097          0              0              0              29
  19  Cloth              0.206          0.048          0.156          0              0              0              32
  20  ToiletPaper        -1.308         1.769          2.187          0              0              0              31
  21  Towel              0.266          1.550          -0.452         0              0              0              27
  22  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  23  SprayBottle        -1.471         1.774          2.157          0              0              0              31
  24  Mirror             -1.105         1.754          -0.884         0              0              0
  25  Bathtub            0.221          0.343          0.636          0              0              0
  26  Sink               -1.128         -0.001         -0.593         0              0              0
  27  TowelHolder        0.266          1.536          -0.559         0              0              0
  28  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  29  Shelf              -1.167         0.278          2.157          0              0              0
  30  SinkBasin          -1.133         0.836          -0.580         0              0              0
  31  Shelf              -1.167         1.763          2.157          0              0              0
  32  BathtubBasin       0.277          0.033          0.611          0              0              0
  33  Shelf              -1.167         1.059          2.157          0              0              0
  34  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  35  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  36  GarbageCan         -2.715         0.004          -0.513         0              270            0
  37  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  38  Toilet             -2.150         0.002          -0.412         0              90             0
  39  Faucet             0.284          0.504          -0.489         0              0              0
  40  ShowerHead         0.232          1.906          1.834          0              0              0
  41  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  42  Faucet             -1.127         0.993          -0.837         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn to your right walk straight then left face the tub | STEP 2: Pick up the right rag on the tub | STEP 3: Turn to your right and head to the sink | STEP 4: Put the rag in the sink and rinse it | STEP 5: Turn to your left and head to the tub | STEP 6: Put the clean rag in the tub | END