Task: Put two rags 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          0.901          0.75           0              0              0
   1  SoapBar            -1.840         0.017          0.165          0              0              0              37
   2  Candle             -0.363         0.218          2.638          0              0              0              22
   3  Candle             -0.470         0.518          2.985          0              0              0              24
   4  SprayBottle        -2.442         0.196          0.336          0              0              0              25
   5  SoapBottle         -2.313         0.195          0.168          0              0              0              25
   6  SoapBottle         -0.348         0.813          3.130          0              0              0              34
   7  HandTowel          -0.034         1.537          1.542          0              90             0              41
   8  HandTowel          -0.034         1.537          3.105          0              90             0              39
   9  Towel              -1.513         1.496          0.109          0              0              0              35
  10  Cloth              -0.219         0.811          2.480          0              0              0              34
  11  SoapBar            -1.997         0.813          0.155          0              0              0              31
  12  ToiletPaper        -2.829         0.950          3.220          0              270            0              43
  13  Plunger            -2.530         0.000          3.026          0              0              0
  14  Candle             -0.091         0.812          2.350          0              0              0              34
  15  SoapBottle         -2.844         0.195          0.224          0              0              0              25
  16  ToiletPaper        -2.407         0.146          3.218          0              0              270            46
  17  SprayBottle        -0.155         0.813          1.524          0              0              0              34
  18  ScrubBrush         -2.332         0.000          3.163          0              0              0
  19  Drawer             -0.325         0.319          2.155          0              0              0
  20  Mirror             0.0            1.473          1.917          0              270            0
  21  Drawer             -0.325         0.319          1.717          0              0              0
  22  Drawer             -0.325         0.319          2.592          0              0              0
  23  Bathtub            -3.589         0.107          1.521          0              0              0
  24  Drawer             -0.325         0.619          2.592          0              0              0
  25  Drawer             -2.249         0.319          0.280          0              0              0
  26  Drawer             -0.325         0.319          3.030          0              0              0
  27  Mirror             0.0            1.473          2.700          0              270            0
  28  Drawer             -0.325         0.619          3.030          0              0              0
  29  ShowerGlass        -0.494         1.490          0.528          0              0              0
  30  Sink               -2.539         0.661          0.252          0              0              0
  31  CounterTop         -2.540         0.805          0.280          0              0              0
  32  Drawer             -2.844         0.319          0.280          0              0              0
  33  ShowerDoor         -1.074         1.033          0.519          0              0              0
  34  CounterTop         -0.277         0.785          1.931          0              0              0
  35  TowelHolder        -1.513         1.481          0.002          0              0              0
  36  LightSwitch        -0.776         1.371          3.300          0              180            0
  37  GarbageCan         -1.754         0.001          0.227          0              0              0
  38  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  39  HandTowelHolder    0.004          1.639          3.105          0              180            0
  40  HandTowelHolder    0.004          1.639          2.309          0              180            0
  41  HandTowelHolder    0.004          1.639          1.542          0              180            0
  42  Window             -4.127         1.519          1.495          90             270            0
  43  Toilet             -2.842         0.000          2.755          0              180            0
  44  SinkBasin          -2.542         0.706          0.269          0              0              0
  45  BathtubBasin       -3.606         0.182          1.536          0              270            0
  46  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  47  Faucet             -2.540         0.794          0.111          0              0              0
  48  Faucet             -0.111         0.794          1.921          0              270            0
  49  ShowerHead         -3.612         1.776          2.299          0              0              0
  50  ShowerHead         -0.079         1.151          0.662          0              0              0
  51  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  52  Sink               -0.260         0.661          1.922          0              270            0
  53  SinkBasin          -0.277         0.706          1.920          0              270            0
  54  NorthWall
  55  SouthWall
  56  SouthWall

Plan:
STEP 1: move to the counter to the left of the sink | STEP 2: pick up a rag from a ring | STEP 3: move to the tub to the left of the toilet | STEP 4: put the rag in the tub | STEP 5: move to the counter to the right of the sink | STEP 6: pick up a rag from a ring | STEP 7: move to the tub to the left of the toilet | STEP 8: put the rag in the tub | END