Task: Clean a cloth and place it in 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              -1.0           0.902          1.0            0              0              0
   1  Cloth              -3.861         0.038          0.409          0              0              0              44
   2  Cloth              -1.894         0.441          -0.635         0              90             0              31
   3  Cloth              -2.887         0.441          -0.683         0              0              0              33
   4  Candle             -2.120         0.702          -0.755         0              90             0              30
   5  Candle             -0.732         0.953          -0.695         0              90             0              42
   6  SoapBar            -1.892         0.703          -0.471         0              90             0              30
   7  SoapBar            -3.116         0.612          0.183          0              0              0              35
   8  DishSponge         -2.694         0.444          -0.586         0              90             0              33
   9  SoapBottle         -3.156         0.615          1.094          0              0              0              35
  10  Towel              -3.66          1.567          -0.459         0              0              0              37
  11  Candle             -2.347         0.702          -0.585         0              90             0              30
  12  HandTowel          -2.576         1.683          2.244          0              0              0              39
  13  SoapBar            -0.607         0.954          -0.802         0              90             0              42
  14  ToiletPaper        -1.665         0.700          -0.755         0              90             0              30
  15  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  16  SprayBottle        -0.857         0.951          -0.749         0              90             0              42
  17  SoapBottle         -2.120         0.706          -0.528         0              90             0              30
  18  TissueBox          -1.437         0.704          -0.528         0              90             0              30
  19  ToiletPaper        -1.798         0.174          -0.683         0              90             0              28
  20  PaperTowelRoll     -1.892         0.809          -0.528         0              270            0              30
  21  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  22  Cloth              -1.396         0.441          -0.635         0              90             0              24
  23  DishSponge         -3.602         0.040          0.780          0              0              0              35
  24  Drawer             -1.444         0.531          -0.620         0              90             0
  25  Sink               -1.919         0.441          2.032          0              180            0
  26  Drawer             -2.343         0.531          -0.620         0              90             0
  27  Drawer             -2.343         0.271          -0.620         0              90             0
  28  Drawer             -1.894         0.271          -0.620         0              90             0
  29  Drawer             -2.791         0.271          -0.620         0              90             0
  30  CounterTop         -2.799         0.001          -0.593         0              90             0
  31  Drawer             -1.894         0.531          -0.620         0              90             0
  32  Mirror             -1.909         1.748          2.280          0              0              0
  33  Drawer             -2.791         0.531          -0.620         0              90             0
  34  Drawer             -1.444         0.271          -0.620         0              90             0
  35  Bathtub            -3.706         0.342          0.636          0              0              0
  36  Faucet             -1.919         1.064          2.182          0              180            0
  37  TowelHolder        -3.660         1.552          -0.558         0              0              0
  38  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  39  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  40  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  41  LightSwitch        -0.558         1.282          2.281          0              180            0
  42  Toilet             -0.720         0.001          -0.310         0              0              0
  43  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  44  BathtubBasin       -3.788         0.028          0.595          0              0              0
  45  SinkBasin          -1.908         1.011          1.981          0              180            0
  46  ShowerHead         -3.740         1.858          1.827          0              0              0
  47  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn around and then move straight to the bath tub. | STEP 2: Pick up the cloth from the bath tub. | STEP 3: Hold the cloth and turn around. Face the sink on the left side. | STEP 4: Place the cloth in the sink and turn on the water. Turn off the water and pick up the cloth. | STEP 5: Carry the cloth and turn to the right. Face the tub on the right side. | STEP 6: Place the cloth in the bath tub. | END