Task: put washed rag in bath tub basin

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.909          1.5            0              0              0
   1  Cloth              -1.639         0.111          0.454          0              0              0              41
   2  SoapBar            -2.315         1.104          3.214          0              0              0              28
   3  SoapBar            -0.843         0.969          3.007          0              180            0              26
   4  SprayBottle        -0.822         1.072          0.394          0              0              0              47
   5  Candle             -2.710         0.597          1.467          0              0              0              42
   6  Candle             -2.812         0.597          1.550          0              0              0              42
   7  DishSponge         -2.297         0.600          1.156          0              0              0              31
   8  SoapBottle         -0.757         1.073          0.271          0              0              0              47
   9  Towel              0.861          1.358          2.855          0              270            0              39
  10  ToiletPaper        -0.127         0.068          3.185          0              270            0              43
  11  HandTowel          -0.242         1.76           3.427          0              0              0              45
  12  Plunger            -0.219         0.026          0.490          0              0              0
  13  SoapBar            -2.340         1.104          3.369          0              0              0              28
  14  ToiletPaper        -1.964         0.596          1.072          0              0              0              31
  15  SoapBottle         -1.173         0.056          3.155          0              0              0              33
  16  ToiletPaper        -1.214         0.596          0.982          0              0              0              31
  17  Towel              0.402          1.389          3.359          0              0              0              40
  18  PaperTowelRoll     -0.450         1.210          3.137          0              0              0              28
  19  ScrubBrush         -0.351         0.026          0.353          0              0              0
  20  Cloth              -2.073         0.111          0.544          0              0              0              41
  21  Candle             -0.291         1.103          2.983          0              0              0              28
  22  DishSponge         -3.120         0.600          1.509          0              0              0              42
  23  SprayBottle        -0.474         0.056          3.358          0              0              0              32
  24  Window             -3.447         1.593          0.648          0              0              0
  25  Mirror             -1.386         1.595          3.464          0              0              0
  26  SinkBasin          -0.837         0.960          3.091          0              180            0
  27  ShowerDoor         -2.477         1.774          2.386          0              0              0
  28  CounterTop         -1.358         1.094          3.151          0              0              0
  29  Sink               -0.846         0.952          3.144          0              180            0
  30  Cabinet            -1.399         0.425          2.867          0              0              0
  31  Bathtub            -2.234         0.288          0.722          0              0              0
  32  Cabinet            -0.337         0.425          2.867          0              0              0
  33  Cabinet            -1.362         0.425          2.867          0              0              0
  34  Cabinet            -2.423         0.425          2.867          0              0              0
  35  ShowerGlass        -2.895         1.423          2.342          0              0              0
  36  Faucet             -0.853         1.094          3.367          0              180            0
  37  ShowerHead         -2.949         2.154          3.427          0              0              0
  38  Window             -2.190         1.550          0.086          0              0              0
  39  TowelHolder        0.967          1.343          2.855          0              270            0
  40  TowelHolder        0.402          1.375          3.466          0              180            0
  41  BathtubBasin       -2.322         0.096          0.634          0              0              0
  42  Shelf              -2.930         0.589          1.425          0              0              0
  43  GarbageCan         -0.061         -0.001         3.131          0              270            0
  44  LightSwitch        0.968          1.432          1.128          0              270            0
  45  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  46  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  47  Toilet             -0.694         0.026          0.656          0              90             0
  48  Faucet             -1.944         1.094          3.367          0              180            0
  49  Sink               -1.934         0.952          3.144          0              180            0
  50  SinkBasin          -1.926         0.960          3.091          0              180            0
  51  Faucet             -1.342         0.638          0.629          0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: walk to face bath tub basin | STEP 2: pick up dirty rag on right side of tub basin | STEP 3: walk to face sink | STEP 4: wash rag in sink, pick up rag from sink | STEP 5: turn to face tub basin | STEP 6: put rag in tub basin | END