Task: Clean a dirty rag in the bathtub.

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              180            0
   1  Cloth              -3.689         0.038          0.595          0              0              0              41
   2  TissueBox          -1.892         0.704          -0.585         0              90             0              27
   3  Candle             -0.607         0.954          -0.802         0              90             0              39
   4  SoapBar            -1.687         1.019          2.010          0              180            0              42
   5  SoapBar            -0.669         0.954          -0.695         0              90             0              39
   6  ToiletPaper        -0.529         0.941          0.245          0              270            90             40
   7  Towel              -3.66          1.567          -0.459         0              0              0              34
   8  Candle             -3.176         0.611          0.866          0              0              0              32
   9  HandTowel          -1.275         1.683          2.244          0              0              0              37
  10  SoapBar            -2.575         0.703          -0.755         0              90             0              27
  11  ToiletPaper        -3.284         0.609          1.723          0              0              0              32
  12  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  13  SprayBottle        -1.527         0.025          2.030          0              180            0              35
  14  SoapBottle         -1.437         0.706          -0.755         0              90             0              27
  15  TissueBox          -2.295         0.442          -0.586         0              90             0              23
  16  ToiletPaper        -2.347         0.700          -0.471         0              90             0              27
  17  PaperTowelRoll     -1.527         0.135          2.087          0              180            0              35
  18  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  19  Cloth              -3.689         0.038          1.150          0              0              0              41
  20  DishSponge         -2.803         0.704          -0.755         0              90             0              27
  21  Drawer             -1.444         0.531          -0.620         0              90             0
  22  Sink               -1.919         0.441          2.032          0              180            0
  23  Drawer             -2.343         0.531          -0.620         0              90             0
  24  Drawer             -2.343         0.271          -0.620         0              90             0
  25  Drawer             -1.894         0.271          -0.620         0              90             0
  26  Drawer             -2.791         0.271          -0.620         0              90             0
  27  CounterTop         -2.799         0.001          -0.593         0              90             0
  28  Drawer             -1.894         0.531          -0.620         0              90             0
  29  Mirror             -1.909         1.748          2.280          0              0              0
  30  Drawer             -2.791         0.531          -0.620         0              90             0
  31  Drawer             -1.444         0.271          -0.620         0              90             0
  32  Bathtub            -3.706         0.342          0.636          0              0              0
  33  Faucet             -1.919         1.064          2.182          0              180            0
  34  TowelHolder        -3.660         1.552          -0.558         0              0              0
  35  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  36  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  37  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  38  LightSwitch        -0.558         1.282          2.281          0              180            0
  39  Toilet             -0.720         0.001          -0.310         0              0              0
  40  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  41  BathtubBasin       -3.788         0.028          0.595          0              0              0
  42  SinkBasin          -1.908         1.011          1.981          0              180            0
  43  ShowerHead         -3.740         1.858          1.827          0              0              0
  44  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn and go to the bathtub. | STEP 2: Pick up a dirty rag in the bathtub. | STEP 3: Turn and go to the sink.  | STEP 4: Wash the dirty rag in the sink.  | STEP 5: Turn and go to the bathtub. | STEP 6: Put the rag in the bathtub.  | END