Task: place two cloth's inside of the 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              -0.75          0.903          4.0            0              180            0
   1  Cloth              0.232          0.097          3.363          0              0              0              21
   2  Cloth              -2.163         0.704          0.717          0              0              0              22
   3  SoapBar            0.521          0.097          3.558          0              0              0              21
   4  SoapBar            -0.167         0.151          1.349          0              90             0              33
   5  Candle             0.449          0.106          3.558          0              0              0              21
   6  SprayBottle        0.699          1.048          4.342          0              270            0              34
   7  SoapBottle         0.449          0.101          3.265          0              0              0              21
   8  Towel              -2.393         1.478          0.580          0              90             0              28
   9  Candle             0.029          1.063          3.236          0              0              0              25
  10  Cloth              -2.004         0.704          0.135          0              0              0              22
  11  HandTowel          0.397          1.656          2.039          0              180            0              32
  12  Plunger            0.480          0.002          4.793          0              0              0
  13  SoapBar            -2.322         0.704          0.280          0              0              0              22
  14  ToiletPaper        -0.047         0.971          4.911          0              180            90             29
  15  ToiletPaper        0.668          1.044          4.670          0              270            0              34
  16  SoapBottle         0.752          1.058          2.169          0              0              0              25
  17  SprayBottle        0.638          1.048          4.473          0              270            0              34
  18  ScrubBrush         0.688          0.002          4.867          0              0              0
  19  Sink               0.426          1.037          2.947          0              270            0
  20  Window             -2.548         1.673          2.405          0              0              0
  21  Cabinet            0.068          0.366          3.772          0              0              0
  22  Bathtub            -1.042         0.155          0.558          0              0              0
  23  SinkBasin          0.404          0.926          2.926          0              270            0
  24  Mirror             0.858          1.863          2.972          0              0              0
  25  CounterTop         0.487          1.015          3.090          0              0              0
  26  Faucet             -0.207         0.687          0.546          0              0              0
  27  Cabinet            0.074          0.379          2.045          0              0              0
  28  TowelHolder        -2.5           1.463          0.579          0              90             0
  29  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  30  LightSwitch        -1.121         1.333          5.000          0              180            0
  31  BathtubBasin       -1.062         0.153          0.556          0              0              0
  32  HandTowelHolder    0.398          1.758          2.000          0              270            0
  33  GarbageCan         -0.229         0.001          1.445          0              270            0
  34  Toilet             0.376          0.002          4.470          0              0              0
  35  Faucet             0.661          1.043          3.371          0              270            0
  36  Faucet             0.661          1.043          2.520          0              270            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: turn right and walk to the end of the room, then turn left and walk over to the bath tub at the end of the room | STEP 2: grab the cloth off of the right side of the bathroom tub | STEP 3: move to the left a bit to face the center of the bath tub | STEP 4: place the cloth inside of the bath tub | STEP 5: move to the right to go back to the right side of the bath tub again | STEP 6: grab the cloth off of the bath tub | STEP 7: move to the left a bit to face the center of the bath tub | STEP 8: place the cloth inside of the bath tub | END