Task: get the rag below the counter and toss it 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              -2.25          0.904          0.0            0              180            0
   1  Cloth              -3.053         1.869          1.164          0              0              0              26
   2  SprayBottle        -3.072         0.050          0.846          0              0              0              30
   3  Candle             -3.231         0.110          -0.223         0              0              0              24
   4  SoapBottle         -3.231         0.111          -0.022         0              0              0              24
   5  SoapBottle         -3.193         1.050          1.329          0              90             0              36
   6  Towel              -1.615         1.398          1.800          0              180            0              31
   7  HandTowel          -3.321         1.464          0.763          0              270            0              33
   8  SoapBar            -3.103         0.883          0.145          0              90             0              23
   9  ToiletPaper        -3.231         0.105          0.337          0              0              0              18
  10  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             35
  11  Candle             -3.193         1.050          1.066          0              90             0              36
  12  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  13  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  14  SoapBottle         -3.100         0.111          -0.022         0              0              0              24
  15  Cloth              -2.970         0.108          -0.494         0              0              0              19
  16  SprayBottle        -3.140         1.870          1.775          0              0              0              20
  17  Faucet             -0.618         0.667          1.805          0              0              0
  18  Cabinet            -2.761         0.446          0.599          0              0              0
  19  Cabinet            -2.756         0.421          -0.759         0              0              0
  20  Cabinet            -2.905         2.098          1.878          0              0              0
  21  Sink               -3.016         0.865          0.207          0              90             0
  22  Bathtub            -0.603         0.286          0.832          0              0              0
  23  SinkBasin          -3.016         0.874          0.217          0              90             0
  24  Cabinet            -2.756         0.421          -0.272         0              0              0
  25  Faucet             -3.313         0.989          0.207          0              90             0
  26  Cabinet            -2.900         2.053          1.005          0              0              0
  27  BathtubBasin       -0.558         0.023          0.811          0              0              0
  28  Mirror             -3.348         1.476          0.020          0              0              0
  29  CounterTop         -3.049         1.039          -0.442         0              0              0
  30  GarbageCan         -3.080         -0.007         0.899          0              0              0
  31  TowelHolder        -1.615         1.383          1.907          0              180            0
  32  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  33  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  34  LightSwitch        -2.313         1.426          -0.766         0              0              0
  35  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  36  Toilet             -2.931         0.003          1.364          0              180            0
  37  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn right and approach the counter | STEP 2: get the red rag from under the counter | STEP 3: walk the rag over to the bathtub | STEP 4: toss the rag in to the bath basin | END