Task: place a wet cloth inside the bath tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.902          1.5            0              180            0
   1  Cloth              0.604          0.254          2.523          0              0              0              23
   2  SoapBar            -0.497         0.180          0.48           0              0              0              34
   3  SoapBar            0.767          0.812          1.852          349.201        270            0              33
   4  Candle             0.734          0.740          1.442          0              0              0              22
   5  SprayBottle        0.432          0.743          2.489          0              0              0              22
   6  HandTowel          1.033          1.671          3.127          0              90             0              35
   7  Towel              0.474          1.182          0.134          0              0              0              31
   8  SoapBar            -2.616         1.046          1.822          0              90             0              38
   9  ToiletPaper        0.855          0.110          3.016          0              0              0              37
  10  SoapBottle         0.731          0.114          3.063          0              0              0              37
  11  ToiletPaper        -2.493         1.043          1.559          0              90             0              38
  12  ScrubBrush         -2.557         0.001          2.200          0              0              0
  13  Plunger            -2.568         0.000          1.992          0              0              0
  14  Cloth              -0.888         0.181          0.432          0              0              0              34
  15  Candle             -2.554         1.044          1.822          0              90             0              38
  16  SprayBottle        0.884          0.743          2.489          0              270            0              22
  17  Window             -2.808         0.962          0.514          0              0              0
  18  Bathtub            -1.062         0.300          0.427          0              0              0
  19  Drawer             0.409          0.551          1.486          0              0              0
  20  Mirror             0.986          1.676          1.896          0              0              0
  21  ShowerDoor         -2.671         1.001          2.797          0              0              0
  22  CounterTop         0.732          0.697          1.955          0              0              0
  23  Drawer             0.409          0.314          2.420          0              0              0
  24  ShowerGlass        -1.713         1.276          3.298          0              0              0
  25  CounterTop         -0.298         0.157          0.531          0              0              0
  26  Sink               0.812          0.703          1.920          0              270            0
  27  Drawer             0.409          0.551          2.420          0              0              0
  28  Window             -0.957         1.563          -0.059         0              0              0
  29  Drawer             0.409          0.314          1.486          0              0              0
  30  TowelHolder        1.038          1.179          0.495          0              270            0
  31  TowelHolder        0.474          1.168          0.027          0              0              0
  32  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  33  SinkBasin          0.720          0.812          1.896          349.201        270            0
  34  BathtubBasin       -0.721         0.171          0.479          0              0              0
  35  HandTowelHolder    1.071          1.773          3.127          0              180            0
  36  LightSwitch        0.220          1.416          3.998          0              180            0
  37  GarbageCan         0.713          -0.028         3.110          0              0              0
  38  Toilet             -2.232         0.001          1.628          0              180            0
  39  ShowerHead         -2.619         1.819          3.361          0              270            0
  40  Faucet             1.047          1.036          1.921          0              0              0
  41  Faucet             0.318          0.631          0.479          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: move forward towards the bath tub | STEP 2: pick up the cloth | STEP 3: turn left and head to the sink | STEP 4: wet the cloth with water | STEP 5: turn around and head to the tub | STEP 6: place the cloth inside the tub | END