Task: place a web rag 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              -0.25          0.900          1.5            0              270            0
   1  Cloth              -1.235         0.074          0.764          0              315            0              21
   2  Cloth              -1.657         0.074          0.970          0              0              0              21
   3  SoapBar            -0.012         0.615          3.792          0              0              0              43
   4  Candle             -1.743         0.772          3.122          0              0              0              20
   5  SprayBottle        0.401          1.160          3.926          0              0              0              49
   6  SprayBottle        0.303          1.164          3.765          0              0              0              49
   7  SoapBottle         0.303          1.160          3.894          0              0              0              49
   8  Towel              -0.07          1.284          0.106          0              0              0              30
   9  HandTowel          -1.731         1.333          3.961          0              0              0              32
  10  SoapBar            -1.703         0.016          2.22           0              0              0              22
  11  ToiletPaper        -0.457         0.443          0.163          0              0              0              19
  12  ToiletPaper        -1.700         0.064          2.962          0              0              0              28
  13  Cloth              -1.663         0.074          0.470          0              90             0              21
  14  SprayBottle        -1.827         0.068          3.284          0              0              0              29
  15  Candle             0.401          1.160          3.797          0              0              0              49
  16  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  17  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  18  SoapBottle         -1.827         0.069          2.637          0              0              0              22
  19  Bathtub            -1.414         -0.002         0.563          0              0              0
  20  CounterTop         -1.799         0.746          3.122          0              0              0
  21  BathtubBasin       -1.613         0.052          0.540          0              0              0
  22  Cabinet            -1.613         0.309          2.493          0              0              0
  23  ShowerDoor         0.527          1.037          2.115          0              0              0
  24  Mirror             -1.993         1.424          3.107          0              0              0
  25  Cabinet            -1.613         0.309          3.754          0              0              0
  26  Faucet             -1.873         0.461          0.641          0              0              0
  27  Sink               -1.834         0.685          2.777          0              90             0
  28  Cabinet            -1.613         0.309          3.105          0              0              0
  29  Cabinet            -1.613         0.309          3.140          0              0              0
  30  TowelHolder        -0.070         1.269          0.0            0              0              0
  31  GarbageCan         0.932          -0.029         3.761          0              0              0
  32  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  33  Window             -1.039         1.393          0.018          90             0              0
  34  Window             -1.986         1.392          0.706          90             90             0
  35  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  36  SinkBasin          -1.795         0.694          2.781          0              90             0
  37  LightSwitch        1.250          1.330          3.621          0              270            0
  38  Toilet             -1.567         -0.000         1.815          0              180            0
  39  Drawer             0.204          0.940          3.807          0              180            0
  40  Dresser            0.204          0.000          3.832          0              180            0
  41  Drawer             0.204          0.160          3.807          0              180            0
  42  Drawer             0.204          0.420          3.807          0              180            0
  43  Drawer             0.204          0.680          3.807          0              180            0
  44  SinkBasin          -1.795         0.694          3.476          0              90             0
  45  Sink               -1.833         0.685          3.472          0              90             0
  46  Faucet             -1.988         0.947          3.472          0              180            0
  47  ShowerHead         0.972          1.222          2.015          0              270            0
  48  Faucet             -1.988         0.947          2.776          0              180            0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn left and head for the tub | STEP 2: pick up the rag from the tub | STEP 3: turn around and head for the sink | STEP 4: wet the rag in the sink and take it out | STEP 5: turn around and head to the tub | STEP 6: place the rag in the tub | END