Task: Put wash rags 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              -2.0           0.903          4.5            0              270            0
   1  Cloth              0.306          0.097          2.545          0              90             0              25
   2  Cloth              -2.004         0.704          1.008          0              0              0              20
   3  Cloth              0.449          0.097          3.558          0              0              0              19
   4  SoapBar            -1.214         0.164          0.556          0              0              0              29
   5  SoapBottle         0.485          1.058          4.049          0              0              0              23
   6  Towel              -2.393         1.478          0.580          0              90             0              26
   7  Candle             0.729          1.056          4.539          0              270            0              32
   8  Cloth              0.306          0.097          2.352          0              0              0              25
   9  HandTowel          0.397          1.656          2.039          0              180            0              30
  10  Plunger            0.480          0.002          4.793          0              0              0
  11  SoapBar            -0.093         0.704          0.717          0              0              0              20
  12  ToiletPaper        -0.119         0.701          0.135          0              0              0              20
  13  ToiletPaper        0.749          1.045          4.083          0              0              0              23
  14  SoapBottle         -0.144         0.707          0.863          0              0              0              20
  15  SprayBottle        0.668          1.048          4.342          0              270            0              32
  16  ScrubBrush         0.688          0.002          4.867          0              0              0
  17  Sink               0.426          1.037          2.947          0              270            0
  18  Window             -2.548         1.673          2.405          0              0              0
  19  Cabinet            0.068          0.366          3.772          0              0              0
  20  Bathtub            -1.042         0.155          0.558          0              0              0
  21  SinkBasin          0.404          0.926          2.926          0              270            0
  22  Mirror             0.858          1.863          2.972          0              0              0
  23  CounterTop         0.487          1.015          3.090          0              0              0
  24  Faucet             -0.207         0.687          0.546          0              0              0
  25  Cabinet            0.074          0.379          2.045          0              0              0
  26  TowelHolder        -2.5           1.463          0.579          0              90             0
  27  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  28  LightSwitch        -1.121         1.333          5.000          0              180            0
  29  BathtubBasin       -1.062         0.153          0.556          0              0              0
  30  HandTowelHolder    0.398          1.758          2.000          0              270            0
  31  GarbageCan         -0.229         0.001          1.445          0              270            0
  32  Toilet             0.376          0.002          4.470          0              0              0
  33  Faucet             0.661          1.043          3.371          0              270            0
  34  Faucet             0.661          1.043          2.520          0              270            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn and go to the right side of the tub. | STEP 2: Pick up the wash rag that is on the right side of the tub. | STEP 3: With the wash rag in hand turn and go to the center of the tub. | STEP 4: Place the wash rag in the center of the tub. | STEP 5: Turn and go to the sink.   | STEP 6: Open the cabinet on the right under the sink. Grab the wash rag. Shut the cabinet door. | STEP 7: Turn and go to the center of the bath tub with the wash rag. | STEP 8: Place the wash rag to the left of the wash rag that is already in the tub. | END