Task: Place a rag 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              0.0            0.900          0.0            0              0              0
   1  Cloth              -1.235         0.018          -1.536         0              0              0              18
   2  SoapBar            -1.843         0.016          -1.588         0              0              0              28
   3  Candle             -0.103         0.907          -1.687         0              0              0              22
   4  SprayBottle        -1.871         1.045          0.403          0              90             0              40
   5  SoapBottle         -0.430         0.019          -1.587         0              0              0              25
   6  SoapBottle         -0.137         0.019          -1.638         0              90             0              25
   7  Towel              0.89           1.368          -1.755         0              0              0              32
   8  HandTowel          -2.028         1.492          -1.482         0              270            0              38
   9  SoapBar            0.877          0.171          -0.962         0              270            0              36
  10  ToiletPaper        -1.933         1.041          0.206          0              90             0              40
  11  ToiletPaper        -1.894         1.037          0.023          1.050          0              358.837        40
  12  Cloth              -1.560         0.926          -1.534         347.851        0              0              37
  13  SprayBottle        -1.933         1.045          0.075          0              90             0              40
  14  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  15  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  16  Candle             -1.994         1.042          0.075          0              90             0              40
  17  SoapBottle         -0.254         0.019          -1.638         0              0              0              25
  18  Cabinet            -1.052         0.340          -1.327         0              0              0
  19  Cabinet            -1.039         0.340          -1.327         0              0              0
  20  ShowerGlass        0.919          1.417          -0.206         0              0              0
  21  Sink               -1.560         0.811          -1.598         0              0              0
  22  CounterTop         -1.041         0.884          -1.531         0              0              0
  23  ShowerDoor         0.451          0.926          0.696          0              0              0
  24  Faucet             -0.505         0.898          -1.779         0              0              0
  25  Cabinet            -0.071         0.340          -1.327         0              0              0
  26  Mirror             -1.014         1.501          -1.840         0              0              0
  27  Bathtub            0.883          0.392          -1.154         0              0              0
  28  Cabinet            -2.020         0.340          -1.327         0              0              0
  29  Sink               -0.526         0.811          -1.598         0              0              0
  30  Window             1.532          1.672          -1.037         0              0              0
  31  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  32  TowelHolder        0.889          1.353          -1.861         0              0              0
  33  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  34  LightSwitch        0.224          1.333          0.762          0              180            0
  35  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  36  BathtubBasin       0.938          0.160          -1.126         0              270            0
  37  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  38  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  39  GarbageCan         0.122          -0.002         -1.558         0              270            0
  40  Toilet             -1.610         -0.000         0.209          0              180            0
  41  Faucet             -1.537         0.898          -1.779         0              0              0
  42  Faucet             0.929          0.509          -1.978         0              0              0
  43  Faucet             0.890          1.689          0.724          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and go to the sink across from the toilet and nearest to the wall. | STEP 2: Take the rag from the sink. | STEP 3: Turn around and go to the tub to your right. | STEP 4: Place the rag in the tub, to the left of the soap. | END