Task: To clean a rag and put it 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              -2.5           0.904          -0.5           0              0              0
   1  Cloth              -0.547         0.033          0.811          0              0              0              30
   2  Cloth              -0.404         0.033          0.122          0              0              0              30
   3  Cloth              -0.404         0.033          1.040          0              0              0              30
   4  SprayBottle        -3.100         0.110          0.337          0              0              0              27
   5  Candle             -3.189         1.003          -0.365         0              0              0              32
   6  SoapBottle         -3.007         0.051          0.869          0              0              0              33
   7  SoapBottle         -3.193         1.050          1.263          0              90             0              39
   8  HandTowel          -3.321         1.464          0.762          0              270            0              36
   9  Towel              -1.615         1.398          1.800          0              180            0              34
  10  HandTowel          -2.96          1.593          -0.728         0              180            0              35
  11  SoapBar            -0.690         0.033          1.040          0              0              0              30
  12  ToiletPaper        -3.246         1.039          1.143          0              0              0              39
  13  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             38
  14  Candle             -3.316         1.050          1.263          0              90             0              39
  15  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  16  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  17  SoapBottle         -2.810         1.004          -0.208         0              0              0              32
  18  Cloth              -3.034         0.109          -0.022         0              0              0              27
  19  SprayBottle        -2.969         0.110          0.387          0              0              0              27
  20  Faucet             -0.618         0.667          1.805          0              0              0
  21  Cabinet            -2.761         0.446          0.599          0              0              0
  22  Cabinet            -2.756         0.421          -0.759         0              0              0
  23  Cabinet            -2.905         2.098          1.878          0              0              0
  24  Sink               -3.016         0.865          0.207          0              90             0
  25  Bathtub            -0.603         0.286          0.832          0              0              0
  26  SinkBasin          -3.016         0.874          0.217          0              90             0
  27  Cabinet            -2.756         0.421          -0.272         0              0              0
  28  Faucet             -3.313         0.989          0.207          0              90             0
  29  Cabinet            -2.900         2.053          1.005          0              0              0
  30  BathtubBasin       -0.558         0.023          0.811          0              0              0
  31  Mirror             -3.348         1.476          0.020          0              0              0
  32  CounterTop         -3.049         1.039          -0.442         0              0              0
  33  GarbageCan         -3.080         -0.007         0.899          0              0              0
  34  TowelHolder        -1.615         1.383          1.907          0              180            0
  35  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  36  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  37  LightSwitch        -2.313         1.426          -0.766         0              0              0
  38  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  39  Toilet             -2.931         0.003          1.364          0              180            0
  40  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn left and face the sink and look below the sink at the cabinet.  | STEP 2: Open the cabinet door on the left, take out the rag, close the door.  | STEP 3: Face the front of the sink on the right side of the counter.  | STEP 4: Place the rag in the sink, clean the rag with water, pick up the rag from the sink.  | STEP 5: Turn around and walk to the tub.  | STEP 6: Put the rag down in the tub to the right of the bar of soap.  | END