Task: Put clean cloth 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              -1.5           0.904          0.5            0              90             0
   1  Cloth              -0.404         0.033          0.811          0              0              0              28
   2  Cloth              -0.619         0.033          1.040          0              0              0              28
   3  Cloth              -0.404         0.033          0.581          0              0              0              28
   4  SoapBottle         -3.009         1.871          1.624          0              0              0              21
   5  HandTowel          -2.96          1.593          -0.728         0              180            0              33
   6  ToiletPaper        -3.255         1.045          1.132          0              90             0              37
   7  Towel              -1.615         1.398          1.800          0              180            0              32
   8  HandTowel          -3.321         1.464          0.763          0              270            0              34
   9  SoapBar            -3.007         0.049          0.869          0              0              0              31
  10  ToiletPaper        -3.038         0.999          -0.680         0              0              0              30
  11  ToiletPaper        -3.189         0.999          -0.601         0              0              0              30
  12  Candle             -1.049         0.514          0.833          0              0              0              23
  13  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  14  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  15  SoapBottle         -2.810         1.004          -0.523         0              0              0              30
  16  Cloth              -0.404         0.033          1.040          0              0              0              28
  17  SprayBottle        -3.163         1.049          1.329          0              90             0              37
  18  Faucet             -0.618         0.667          1.805          0              0              0
  19  Cabinet            -2.761         0.446          0.599          0              0              0
  20  Cabinet            -2.756         0.421          -0.759         0              0              0
  21  Cabinet            -2.905         2.098          1.878          0              0              0
  22  Sink               -3.016         0.865          0.207          0              90             0
  23  Bathtub            -0.603         0.286          0.832          0              0              0
  24  SinkBasin          -3.016         0.874          0.217          0              90             0
  25  Cabinet            -2.756         0.421          -0.272         0              0              0
  26  Faucet             -3.313         0.989          0.207          0              90             0
  27  Cabinet            -2.900         2.053          1.005          0              0              0
  28  BathtubBasin       -0.558         0.023          0.811          0              0              0
  29  Mirror             -3.348         1.476          0.020          0              0              0
  30  CounterTop         -3.049         1.039          -0.442         0              0              0
  31  GarbageCan         -3.080         -0.007         0.899          0              0              0
  32  TowelHolder        -1.615         1.383          1.907          0              180            0
  33  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  34  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  35  LightSwitch        -2.313         1.426          -0.766         0              0              0
  36  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  37  Toilet             -2.931         0.003          1.364          0              180            0
  38  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Back up from the tub. | STEP 2: Pick up the rightmost dirty cloth from inside the tub. | STEP 3: Turn around, go across the room to the sink. | STEP 4: Put the cloth into the sink, rinse it off, then pick it back up. | STEP 5: Turn around and head back to the tub. | STEP 6: Put the clean cloth in the tub to the right of the bottom left cloth. | END