Task: Put 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              -3.75          0.900          4.75           0              0              0
   1  TissueBox          -1.008         0.964          4.933          0              0              0              29
   2  TissueBox          -3.828         0.541          0.373          0              90             0              39
   3  Cloth              -3.828         0.541          1.293          0              90             0              39
   4  Cloth              -3.616         0.185          2.194          0              0              0              22
   5  SoapBar            -3.455         0.185          3.096          0              347.395        0              22
   6  SoapBottle         -1.095         0.968          4.734          0              0              0              29
   7  SoapBottle         -3.597         0.546          0.557          0              90             0              39
   8  HandTowel          -2.094         1.442          5.107          0              0              0              40
   9  ToiletPaper        -3.833         0.673          1.887          0              270            0              24
  10  Candle             -0.224         1.053          3.026          0              270            0              43
  11  SoapBottle         -3.655         0.546          1.477          0              90             0              39
  12  HandTowel          -0.112         1.467          4.811          0              270            0              41
  13  Towel              -0.181         1.419          2.425          0              270            0              37
  14  SoapBar            -3.475         0.185          2.410          0              347.395        0              22
  15  ToiletPaper        -0.188         1.036          3.374          0              0              0              43
  16  TissueBox          -3.655         0.541          0.925          0              90             0              39
  17  Cloth              -3.655         0.541          0.741          0              90             0              39
  18  ToiletPaper        -0.153         1.126          3.705          0              270            270            42
  19  SprayBottle        -0.193         1.045          3.289          0              270            0              43
  20  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  21  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  22  BathtubBasin       -3.404         0.166          2.904          0              0              0
  23  Cabinet            -0.124         0.364          4.634          0              0              0
  24  Bathtub            -2.896         0.667          2.860          0              0              0
  25  Faucet             -3.475         0.711          3.811          0              0              0
  26  ShowerGlass        0.0            0.0            0.0            0              0              0
  27  ShowerDoor         -0.282         1.228          1.730          0              0              0
  28  Faucet             -1.524         1.047          5.096          0              180            0
  29  CounterTop         -1.023         0.954          4.884          0              0              0
  30  Mirror             -0.975         1.577          5.145          0              0              0
  31  Cabinet            -1.962         0.364          4.634          0              0              0
  32  Cabinet            -1.027         0.364          4.634          0              0              0
  33  Cabinet            -1.059         0.364          4.634          0              0              0
  34  Window             -1.993         1.888          0.144          0              0              0
  35  LightSwitch        -2.496         1.366          5.146          0              180            0
  36  TowelHolder        -1.720         1.213          1.740          0              0              0
  37  TowelHolder        -0.074         1.404          2.424          0              270            0
  38  GarbageCan         -2.346         0.002          4.878          0              180            0
  39  Shelf              -3.713         0.531          0.951          0              90             0
  40  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  41  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  42  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  43  Toilet             -0.517         -0.000         3.220          0              0              0
  44  ShowerHead         -0.182         1.256          0.875          0              0              0
  45  SinkBasin          -0.569         0.986          4.886          0              180            0
  46  Sink               -0.579         0.926          4.874          0              180            0
  47  Sink               -1.524         0.926          4.874          0              180            0
  48  SinkBasin          -1.514         0.986          4.886          0              180            0
  49  Faucet             -0.583         1.047          5.096          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around, then turn right and face the light-switch on your left. | STEP 2: Take the towel from the hook on the right. | STEP 3: Turn around and walk towards the tub, then turn right to face it. | STEP 4: Put the towel in the tub. | STEP 5: Turn right, then right again and face the sink on your left. | STEP 6: Grab a towel from the sink. | STEP 7: Turn left, then left again and face the tub on your right. | STEP 8: Put the towel in the tub in front of you. | END