Task: Put 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              -1.25          0.902          2.0            0              90             0
   1  Cloth              -2.707         0.092          3.039          0              0              0              34
   2  Cloth              -2.826         0.929          1.757          0              0              0              35
   3  Cloth              -2.712         0.745          3.385          0              0              0              31
   4  SoapBar            -2.762         0.937          2.455          0              90             0              43
   5  DishSponge         -2.736         0.939          2.006          0              90             0              43
   6  SoapBottle         -2.530         0.928          1.800          0              0              0              35
   7  Towel              -0.106         1.510          1.943          0              270            0              37
   8  Candle             -2.792         1.214          1.400          0              270            0              36
   9  SoapBottle         -2.609         0.088          2.276          0              0              0              24
  10  HandTowel          -2.698         1.521          2.867          0              0              0              38
  11  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  12  SoapBar            -2.491         0.745          3.167          0              0              0              31
  13  ToiletPaper        -2.328         0.791          0.079          0              0              270            40
  14  Cloth              -2.701         1.206          1.460          0              270            0              36
  15  ToiletPaper        -2.927         1.197          1.459          0              0              0              36
  16  SprayBottle        -0.230         0.057          0.216          0              270            0              41
  17  PaperTowelRoll     -2.338         1.311          1.400          0              270            0              36
  18  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  19  DishSponge         -2.656         0.746          3.167          0              0              0              31
  20  Cabinet            -2.410         0.371          2.862          0              0              0
  21  Mirror             -2.973         1.613          2.265          0              0              0
  22  Bathtub            -0.435         0.182          1.575          0              0              0
  23  Cabinet            -2.410         0.371          3.570          0              0              0
  24  Cabinet            -2.410         0.371          2.040          0              0              0
  25  Cabinet            -2.410         1.261          2.913          0              0              0
  26  Faucet             -0.769         0.416          1.0            0              9.958          0
  27  Cabinet            -2.410         1.261          3.570          0              0              0
  28  Sink               -2.723         0.862          2.231          0              90             0
  29  Cabinet            -2.410         2.022          2.913          0              0              0
  30  Cabinet            -2.410         0.371          1.585          0              0              0
  31  Drawer             -2.638         0.767          3.239          0              0              0
  32  Cabinet            -2.410         2.022          3.570          0              0              0
  33  Faucet             -2.928         0.978          2.231          0              90             0
  34  Cabinet            -2.410         0.371          2.913          0              0              0
  35  CounterTop         -2.688         0.966          2.260          0              0              0
  36  CounterTop         -2.611         1.243          1.455          0              270            0
  37  TowelHolder        0.0            1.496          1.942          0              270            0
  38  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  39  Window             -2.256         1.656          -0.021         90             0              0
  40  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  41  GarbageCan         -0.403         -0.027         0.241          0              0              0
  42  BathtubBasin       -0.435         0.185          1.544          0              0              0
  43  SinkBasin          -2.736         0.929          2.241          0              90             0
  44  LightSwitch        -1.675         1.442          3.610          0              180            0
  45  Toilet             -2.579         0.032          0.656          0              180            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn to your right then face the sink counter | STEP 2: Pick up the dirty rag on the left side of the sink counter | STEP 3: Turn to your right and move closely to the sink | STEP 4: Put the dirty rag on the sink and rinse it | STEP 5: Pick up the clean rag then turn around to your right head to the tub | STEP 6: Put the clean rag in the tub | END