Task: Replace a dirty rag from the bathtub with a clean one.

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          1.0            0              0              0
   1  Cloth              -3.861         0.038          0.039          0              0              0              43
   2  TissueBox          -0.919         0.954          -0.749         0              90             0              41
   3  SprayBottle        -1.665         0.700          -0.642         0              90             0              29
   4  SoapBar            -3.861         0.039          0.965          0              0              0              43
   5  SoapBar            -3.250         0.612          1.647          0              0              0              34
   6  DishSponge         -1.764         1.021          1.981          0              180            0              44
   7  SoapBottle         -3.156         0.615          0.183          0              0              0              34
   8  SoapBottle         -2.347         0.706          -0.698         0              90             0              29
   9  Towel              -3.66          1.567          -0.459         0              0              0              36
  10  Candle             -2.198         0.175          -0.732         0              90             0              26
  11  HandTowel          -1.275         1.683          2.244          0              0              0              39
  12  SoapBar            -2.295         0.175          -0.732         0              90             0              26
  13  ToiletPaper        -1.380         0.695          -0.751         0              0              0              29
  14  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  15  SprayBottle        -0.607         0.951          -0.748         0              90             0              41
  16  SoapBottle         -3.156         0.615          0.410          0              0              0              34
  17  TissueBox          -2.120         0.704          -0.642         0              90             0              29
  18  ToiletPaper        -0.529         0.941          0.245          0              270            90             42
  19  PaperTowelRoll     -3.110         0.718          -0.367         0              0              0              34
  20  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  21  Cloth              -3.948         0.038          0.780          0              0              0              43
  22  DishSponge         -1.892         0.704          -0.698         0              90             0              29
  23  Drawer             -1.444         0.531          -0.620         0              90             0
  24  Sink               -1.919         0.441          2.032          0              180            0
  25  Drawer             -2.343         0.531          -0.620         0              90             0
  26  Drawer             -2.343         0.271          -0.620         0              90             0
  27  Drawer             -1.894         0.271          -0.620         0              90             0
  28  Drawer             -2.791         0.271          -0.620         0              90             0
  29  CounterTop         -2.799         0.001          -0.593         0              90             0
  30  Drawer             -1.894         0.531          -0.620         0              90             0
  31  Mirror             -1.909         1.748          2.280          0              0              0
  32  Drawer             -2.791         0.531          -0.620         0              90             0
  33  Drawer             -1.444         0.271          -0.620         0              90             0
  34  Bathtub            -3.706         0.342          0.636          0              0              0
  35  Faucet             -1.919         1.064          2.182          0              180            0
  36  TowelHolder        -3.660         1.552          -0.558         0              0              0
  37  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  38  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  39  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  40  LightSwitch        -0.558         1.282          2.281          0              180            0
  41  Toilet             -0.720         0.001          -0.310         0              0              0
  42  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  43  BathtubBasin       -3.788         0.028          0.595          0              0              0
  44  SinkBasin          -1.908         1.011          1.981          0              180            0
  45  ShowerHead         -3.740         1.858          1.827          0              0              0
  46  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn left and walk to the bathtub. | STEP 2: Pick up the rag from the right side of the bathtub. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the rag in the sink and wash it off then pick it up. | STEP 5: Turn around and walk to the bathtub. | STEP 6: Put the rag in the bathtub in front of the rightmost soap dispenser. | END