Task: Put a rag 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              -1.75          0.900          2.5            0              90             0
   1  Cloth              -2.372         0.831          1.439          0              0              0              22
   2  Cloth              -2.874         0.887          1.827          0              0              0              48
   3  Cloth              -1.117         0.542          1.935          0              0              0              23
   4  SoapBar            -0.967         0.826          1.968          0              0              0              22
   5  Candle             -1.079         1.053          4.526          0              270            0              42
   6  SprayBottle        -1.065         0.121          3.734          0              90             0              41
   7  SoapBottle         -0.987         1.046          4.591          0              270            0              42
   8  SoapBottle         -0.987         1.046          4.460          0              270            0              42
   9  Towel              -4.739         1.522          2.425          0              90             0              35
  10  ToiletPaper        -0.968         0.888          3.960          0              270            270            43
  11  Candle             -1.306         0.546          1.883          0              0              0              23
  12  HandTowel          -3.726         1.646          1.330          0              180            0              40
  13  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  14  SoapBar            -3.028         0.537          1.728          0              0              0              29
  15  ToiletPaper        -2.933         0.534          1.832          0              0              0              29
  16  Cloth              -1.401         0.274          1.883          0              0              0              24
  17  ToiletPaper        -1.086         0.115          3.640          0              90             0              41
  18  Towel              -4.739         1.522          3.359          0              90             0              34
  19  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  20  SoapBottle         -2.372         0.828          1.651          0              0              0              22
  21  SprayBottle        -1.086         0.121          3.797          0              0              0              41
  22  CounterTop         -2.177         0.782          1.889          0              0              0
  23  Drawer             -1.307         0.606          1.890          0              0              0
  24  Drawer             -1.307         0.337          1.890          0              0              0
  25  Faucet             -4.646         0.448          1.689          0              0              0
  26  ShowerDoor         -4.873         1.235          3.947          0              0              0
  27  Drawer             -3.029         0.337          1.890          0              0              0
  28  Drawer             -2.169         0.606          1.890          0              0              0
  29  Drawer             -3.029         0.606          1.890          0              0              0
  30  Bathtub            -4.080         0.297          2.480          0              345.000        0
  31  Drawer             -2.169         0.337          1.890          0              0              0
  32  Mirror             -2.177         1.856          1.390          0              0              0
  33  Sink               -1.421         0.837          1.776          0              0              0
  34  TowelHolder        -4.846         1.508          3.358          0              90             0
  35  TowelHolder        -4.846         1.508          2.424          0              90             0
  36  LightSwitch        -2.165         1.450          4.972          0              180            0
  37  BathtubBasin       -4.309         0.192          2.328          0              270            0
  38  SinkBasin          -1.442         0.874          1.785          0              0              0
  39  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  40  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  41  GarbageCan         -1.116         -0.037         3.598          0              270            0
  42  Toilet             -1.340         -0.000         4.456          0              0              0
  43  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  44  Faucet             -1.421         0.954          1.507          0              0              0
  45  ShowerHead         -5.257         1.733          4.030          0              90             0
  46  Faucet             -2.944         0.954          1.507          0              0              0
  47  Sink               -2.943         0.837          1.776          0              0              0
  48  SinkBasin          -2.964         0.874          1.785          0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn to the empty counter space between the two sinks, on your right.  | STEP 2: Pick up the yellow rag on the counter.  | STEP 3: Turn to the bathtub on your right.  | STEP 4: Place the yellow rag inside the bathtub.  | END