Task: To clean a rag to put back into 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          -0.25          0              0              0
   1  Cloth              0.877          0.171          -0.962         0              270            0              34
   2  Candle             -1.177         0.015          -1.435         0              0              0              17
   3  SprayBottle        -0.371         0.018          -1.486         0              0              0              23
   4  SoapBottle         -0.920         0.018          -1.537         0              0              0              17
   5  Towel              0.89           1.368          -1.755         0              0              0              30
   6  HandTowel          -2.028         1.492          -1.482         0              270            0              36
   7  SoapBar            -1.901         0.016          -1.486         0              0              0              26
   8  ToiletPaper        -1.199         0.919          0.680          0              180            270            31
   9  ToiletPaper        -1.894         1.037          0.023          1.050          0              358.837        38
  10  Cloth              1.062          0.171          -1.248         0              270            0              34
  11  SprayBottle        -1.667         0.017          -1.486         0              0              0              26
  12  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  13  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  14  Candle             0.466          0.590          -0.884         0              0              0              25
  15  SoapBottle         -1.994         1.046          0.075          0              90             0              38
  16  Cabinet            -1.052         0.340          -1.327         0              0              0
  17  Cabinet            -1.039         0.340          -1.327         0              0              0
  18  ShowerGlass        0.919          1.417          -0.206         0              0              0
  19  Sink               -1.560         0.811          -1.598         0              0              0
  20  CounterTop         -1.041         0.884          -1.531         0              0              0
  21  ShowerDoor         0.451          0.926          0.696          0              0              0
  22  Faucet             -0.505         0.898          -1.779         0              0              0
  23  Cabinet            -0.071         0.340          -1.327         0              0              0
  24  Mirror             -1.014         1.501          -1.840         0              0              0
  25  Bathtub            0.883          0.392          -1.154         0              0              0
  26  Cabinet            -2.020         0.340          -1.327         0              0              0
  27  Sink               -0.526         0.811          -1.598         0              0              0
  28  Window             1.532          1.672          -1.037         0              0              0
  29  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  30  TowelHolder        0.889          1.353          -1.861         0              0              0
  31  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  32  LightSwitch        0.224          1.333          0.762          0              180            0
  33  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  34  BathtubBasin       0.938          0.160          -1.126         0              270            0
  35  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  36  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  37  GarbageCan         0.122          -0.002         -1.558         0              270            0
  38  Toilet             -1.610         -0.000         0.209          0              180            0
  39  Faucet             -1.537         0.898          -1.779         0              0              0
  40  Faucet             0.929          0.509          -1.978         0              0              0
  41  Faucet             0.890          1.689          0.724          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around and walk to the green trash can then turn left to face the tub. | STEP 2: Take the black rag furthest away from out of the tub. | STEP 3: Raise it up and turn around to make a left to face the sink. | STEP 4: Place the rag in the sink and turn on the water. Turn the water off and take the rag back out. | STEP 5: Turn around and take a step. Turn to the right and go back to the tub. | STEP 6: Put the clean rag next to the dirty rag laying in the tub. | END