Task: Place a wet rag in a bath tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.902          1.0            0              0              0
   1  Cloth              -3.861         0.038          0.039          0              0              0              43
   2  TissueBox          -0.919         0.954          -0.749         0              90             0              41
   3  SprayBottle        -1.665         0.700          -0.642         0              90             0              29
   4  SoapBar            -3.861         0.039          0.965          0              0              0              43
   5  SoapBar            -3.250         0.612          1.647          0              0              0              34
   6  DishSponge         -1.764         1.021          1.981          0              180            0              44
   7  SoapBottle         -3.156         0.615          0.183          0              0              0              34
   8  SoapBottle         -2.347         0.706          -0.698         0              90             0              29
   9  Towel              -3.66          1.567          -0.459         0              0              0              36
  10  Candle             -2.198         0.175          -0.732         0              90             0              26
  11  HandTowel          -1.275         1.683          2.244          0              0              0              39
  12  SoapBar            -2.295         0.175          -0.732         0              90             0              26
  13  ToiletPaper        -1.380         0.695          -0.751         0              0              0              29
  14  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  15  SprayBottle        -0.607         0.951          -0.748         0              90             0              41
  16  SoapBottle         -3.156         0.615          0.410          0              0              0              34
  17  TissueBox          -2.120         0.704          -0.642         0              90             0              29
  18  ToiletPaper        -0.529         0.941          0.245          0              270            90             42
  19  PaperTowelRoll     -3.110         0.718          -0.367         0              0              0              34
  20  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  21  Cloth              -3.948         0.038          0.780          0              0              0              43
  22  DishSponge         -1.892         0.704          -0.698         0              90             0              29
  23  Drawer             -1.444         0.531          -0.620         0              90             0
  24  Sink               -1.919         0.441          2.032          0              180            0
  25  Drawer             -2.343         0.531          -0.620         0              90             0
  26  Drawer             -2.343         0.271          -0.620         0              90             0
  27  Drawer             -1.894         0.271          -0.620         0              90             0
  28  Drawer             -2.791         0.271          -0.620         0              90             0
  29  CounterTop         -2.799         0.001          -0.593         0              90             0
  30  Drawer             -1.894         0.531          -0.620         0              90             0
  31  Mirror             -1.909         1.748          2.280          0              0              0
  32  Drawer             -2.791         0.531          -0.620         0              90             0
  33  Drawer             -1.444         0.271          -0.620         0              90             0
  34  Bathtub            -3.706         0.342          0.636          0              0              0
  35  Faucet             -1.919         1.064          2.182          0              180            0
  36  TowelHolder        -3.660         1.552          -0.558         0              0              0
  37  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  38  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  39  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  40  LightSwitch        -0.558         1.282          2.281          0              180            0
  41  Toilet             -0.720         0.001          -0.310         0              0              0
  42  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  43  BathtubBasin       -3.788         0.028          0.595          0              0              0
  44  SinkBasin          -1.908         1.011          1.981          0              180            0
  45  ShowerHead         -3.740         1.858          1.827          0              0              0
  46  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn to the left twice and take a step and turn to the right and go to the bath tub | STEP 2: pick up the right pink rag from the bath tub | STEP 3: turn to the right and take a few steps and turn to he right and take a step and turn to the left and take a few steps and turn to the right facing the sink | STEP 4: put the pink rag in the sink and turn on the water to fill the sink and turn off and drain the water and pick up the rag from the sink | STEP 5: turn to the right and take a few steps and turn to the right and step to the bath tub | STEP 6: put the rag in the bath tub | END