Task: Clean the rag and put 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              -1.75          0.900          4.25           0              270            0
   1  TissueBox          -0.255         1.045          3.223          0              270            0              45
   2  TissueBox          -3.540         0.541          1.293          0              90             0              41
   3  Cloth              -3.363         0.185          2.895          0              0              0              24
   4  Cloth              -3.532         0.185          2.428          0              0              0              24
   5  SoapBar            -1.646         0.037          4.887          0              0              0              33
   6  SoapBar            -3.363         0.185          2.662          0              0              0              24
   7  Candle             -3.072         0.685          3.720          0              348.434        0              26
   8  SprayBottle        -3.540         0.542          0.925          0              90             0              41
   9  SprayBottle        -3.828         0.542          1.477          0              90             0              26
  10  Towel              -1.719         1.228          1.846          0              0              0              38
  11  ToiletPaper        -0.153         1.126          3.705          0              270            270            44
  12  Candle             -3.713         0.550          1.293          0              90             0              41
  13  SoapBottle         -0.861         0.042          4.947          0              0              0              34
  14  HandTowel          -2.093         1.442          5.107          0              0              0              42
  15  Towel              -0.181         1.419          2.425          0              270            0              39
  16  SoapBar            -2.227         0.033          4.948          0              0              0              40
  17  ToiletPaper        -2.695         0.673          2.100          0              348.434        0              26
  18  TissueBox          -3.770         0.541          0.557          0              90             0              41
  19  Cloth              -1.796         0.038          4.827          0              0              0              33
  20  ToiletPaper        -0.222         0.960          5.015          0              0              0              31
  21  SprayBottle        -1.696         0.038          5.006          0              0              0              33
  22  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  23  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  24  BathtubBasin       -3.404         0.166          2.904          0              0              0
  25  Cabinet            -0.124         0.364          4.634          0              0              0
  26  Bathtub            -2.896         0.667          2.860          0              0              0
  27  Faucet             -3.475         0.711          3.811          0              0              0
  28  ShowerGlass        0.0            0.0            0.0            0              0              0
  29  ShowerDoor         -0.282         1.228          1.730          0              0              0
  30  Faucet             -1.524         1.047          5.096          0              180            0
  31  CounterTop         -1.023         0.954          4.884          0              0              0
  32  Mirror             -0.975         1.577          5.145          0              0              0
  33  Cabinet            -1.962         0.364          4.634          0              0              0
  34  Cabinet            -1.027         0.364          4.634          0              0              0
  35  Cabinet            -1.059         0.364          4.634          0              0              0
  36  Window             -1.993         1.888          0.144          0              0              0
  37  LightSwitch        -2.496         1.366          5.146          0              180            0
  38  TowelHolder        -1.720         1.213          1.740          0              0              0
  39  TowelHolder        -0.074         1.404          2.424          0              270            0
  40  GarbageCan         -2.346         0.002          4.878          0              180            0
  41  Shelf              -3.713         0.531          0.951          0              90             0
  42  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  43  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  44  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  45  Toilet             -0.517         -0.000         3.220          0              0              0
  46  ShowerHead         -0.182         1.256          0.875          0              0              0
  47  SinkBasin          -0.569         0.986          4.886          0              180            0
  48  Sink               -0.579         0.926          4.874          0              180            0
  49  Sink               -1.524         0.926          4.874          0              180            0
  50  SinkBasin          -1.514         0.986          4.886          0              180            0
  51  Faucet             -0.583         1.047          5.096          0              180            0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Walk over to the sink | STEP 2: Grab the rag out of the cabinet | STEP 3: Walk over to the right sink | STEP 4: Wash the rag | STEP 5: Walk over to the tub | STEP 6: Place the rag in the tub | END