Task: Place a rag on a table.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          -0.5           0              0              0
   1  Cloth              -0.757         0.291          -2.402         0              0              0              33
   2  SprayBottle        -2.337         1.046          -0.361         0              90             0              35
   3  Candle             -2.459         1.086          -0.558         0              90             0              35
   4  Candle             -2.337         1.086          -0.295         0              90             0              35
   5  SoapBar            -0.086         0.876          -1.380         0              0              0              22
   6  SoapBottle         -2.337         1.045          -0.164         0              90             0              35
   7  SoapBottle         -2.319         0.052          -0.987         0              90             0              25
   8  Towel              -0.106         1.541          -2.487         0              270            0              27
   9  Towel              -2.424         1.541          -2.487         0              90             0              26
  10  Candle             -2.276         1.086          -0.427         0              90             0              35
  11  HandTowel          -2.496         1.836          -0.907         0              270            0              30
  12  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  13  SoapBottle         -0.146         0.867          -1.296         0              297.848        0              22
  14  SoapBar            -0.241         0.876          -1.461         0              0              0              22
  15  ToiletPaper        -2.434         0.719          -2.067         0              0              0              20
  16  Cloth              -0.501         0.291          -2.517         0              0              0              33
  17  ToiletPaper        -1.490         1.049          -0.110         0              180            90             29
  18  SprayBottle        -2.388         1.036          -0.436         0              341.623        0              35
  19  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  20  Bathtub            -1.281         0.277          -2.529         0              0              0
  21  Mirror             -2.512         1.764          -1.518         0              0              0
  22  SideTable          -0.153         0.000          -1.465         0              270            0
  23  Sink               -2.273         0.0            -1.519         0              90             0
  24  Drawer             -0.218         0.775          -1.466         0              270            0
  25  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  26  TowelHolder        -2.530         1.526          -2.486         0              90             0
  27  TowelHolder        0.0            1.526          -2.486         0              270            0
  28  LightSwitch        0.0            1.324          -1.146         0              270            0
  29  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  30  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  31  Window             -1.291         1.815          -3.121         90             0              0
  32  SinkBasin          -2.216         0.905          -1.503         0              90             0
  33  SinkBasin          -1.305         0.280          -2.516         0              0              0
  34  HousePlant         -0.108         0.870          -1.649         0              0              0
  35  Toilet             -2.045         0.000          -0.358         0              180            0
  36  Faucet             -2.446         0.940          -1.516         0              90             0
  37  Faucet             -0.132         0.706          -2.877         0              29.999         0
  38  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  39  EastWall
  40  EastWall
  41  SouthWall

Plan:
STEP 1: Turn around and walk to the tub. | STEP 2: Pick up the leftmost purple rag. | STEP 3: Turn left and face the black table. | STEP 4: Put the rag on the table on top of the back bar of soap. | END