Task: Put a clean 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              -1.0           0.901          1.5            0              0              0
   1  Cloth              -3.383         0.219          0.939          0              0              0              42
   2  TissueBox          -0.179         0.201          0.294          0              90             0              21
   3  SoapBar            -0.200         0.982          3.207          0              180            0              22
   4  SoapBar            -0.463         0.897          2.896          0              180            0              41
   5  Candle             -0.346         0.507          0.350          0              90             0              30
   6  Candle             -1.329         0.807          0.352          0              90             0              26
   7  SprayBottle        -1.591         0.805          0.482          0              90             0              26
   8  Towel              -2.554         0.873          0.106          0              0              0              34
   9  Cloth              -0.346         0.201          0.406          0              90             0              21
  10  Candle             -0.346         0.506          0.182          0              90             0              30
  11  HandTowel          -0.038         1.68           2.956          0              90             0              37
  12  SoapBar            -3.634         0.220          1.124          0              0              0              42
  13  ToiletPaper        -2.250         0.946          2.670          0              0              0              40
  14  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  15  SprayBottle        -2.301         0.951          2.390          0              180            0              40
  16  TissueBox          -0.179         0.507          0.406          0              90             0              30
  17  ToiletPaper        -1.567         0.843          3.221          0              180            270            36
  18  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  19  SoapBottle         -0.641         0.949          3.218          0              180            0              22
  20  Drawer             -1.324         0.312          0.311          0              90             0
  21  Drawer             -0.290         0.312          0.311          0              90             0
  22  Sink               -0.463         -0.013         3.046          0              180            0
  23  Mirror             -0.504         1.741          3.304          0              0              0
  24  Drawer             -0.808         0.611          0.311          0              90             0
  25  Drawer             -0.808         0.312          0.311          0              90             0
  26  CounterTop         -1.850         0.001          0.342          0              90             0
  27  Bathtub            -3.499         0.148          0.939          0              0              0
  28  Drawer             -1.840         0.312          0.311          0              90             0
  29  Faucet             -0.463         0.969          3.212          0              180            0
  30  Drawer             -0.290         0.611          0.311          0              90             0
  31  Drawer             -1.324         0.611          0.311          0              90             0
  32  Drawer             -1.840         0.611          0.311          0              90             0
  33  TowelHolder        -2.553         1.582          0.0            0              0              0
  34  TowelHolder        -2.553         0.859          0.0            0              0              0
  35  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  36  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  37  HandTowelHolder    0.0            1.781          2.956          0              180            0
  38  LightSwitch        0.0            1.368          1.993          0              270            0
  39  Window             -4.083         1.735          1.162          90             270            0
  40  Toilet             -1.835         0.000          2.503          0              90             0
  41  SinkBasin          -0.452         0.888          2.969          0              180            0
  42  BathtubBasin       -3.518         0.210          0.939          0              0              0
  43  ShowerHead         -3.540         1.821          1.820          0              0              0
  44  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn around, turn right at the counter, then go straight to the tub. | STEP 2: Pick up the rag from in the tub. | STEP 3: Turn around, go left, then turn right and go to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around and turn right at the counter, to go to the tub. | STEP 6: Place the rag in the center of the tub. | END