Task: Put a clean 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           0.909          1.25           0              180            0
   1  Cloth              -2.725         0.111          0.454          0              0              0              39
   2  Cloth              -3.120         0.603          1.384          0              0              0              40
   3  SoapBar            -1.464         0.599          1.184          0              0              0              29
   4  SprayBottle        -0.643         0.056          3.223          0              0              0              30
   5  Candle             -2.290         1.103          3.060          0              0              0              26
   6  Candle             -1.161         0.598          0.601          0              0              0              29
   7  DishSponge         -1.890         0.970          3.007          0              180            0              48
   8  DishSponge         -0.494         1.072          0.363          0              0              0              45
   9  HandTowel          -0.242         1.76           3.427          0              0              0              43
  10  Plunger            -0.219         0.026          0.490          0              0              0
  11  SoapBar            -2.710         0.598          1.342          0              0              0              40
  12  ToiletPaper        -1.240         0.596          0.855          0              0              0              29
  13  SoapBottle         -2.297         0.601          1.072          0              0              0              29
  14  ToiletPaper        -1.478         0.051          3.223          0              0              0              28
  15  Towel              0.861          1.358          2.855          0              270            0              37
  16  PaperTowelRoll     -0.108         0.178          3.217          0              270            0              41
  17  ScrubBrush         -0.351         0.026          0.353          0              0              0
  18  Cloth              -2.234         0.059          3.020          0              0              0              32
  19  Candle             -0.822         1.069          0.394          0              0              0              45
  20  DishSponge         -0.691         1.072          0.302          0              0              0              45
  21  SprayBottle        -2.710         0.599          1.550          0              0              0              40
  22  Window             -3.447         1.593          0.648          0              0              0
  23  Mirror             -1.386         1.595          3.464          0              0              0
  24  SinkBasin          -0.837         0.960          3.091          0              180            0
  25  ShowerDoor         -2.477         1.774          2.386          0              0              0
  26  CounterTop         -1.358         1.094          3.151          0              0              0
  27  Sink               -0.846         0.952          3.144          0              180            0
  28  Cabinet            -1.399         0.425          2.867          0              0              0
  29  Bathtub            -2.234         0.288          0.722          0              0              0
  30  Cabinet            -0.337         0.425          2.867          0              0              0
  31  Cabinet            -1.362         0.425          2.867          0              0              0
  32  Cabinet            -2.423         0.425          2.867          0              0              0
  33  ShowerGlass        -2.895         1.423          2.342          0              0              0
  34  Faucet             -0.853         1.094          3.367          0              180            0
  35  ShowerHead         -2.949         2.154          3.427          0              0              0
  36  Window             -2.190         1.550          0.086          0              0              0
  37  TowelHolder        0.967          1.343          2.855          0              270            0
  38  TowelHolder        0.402          1.375          3.466          0              180            0
  39  BathtubBasin       -2.322         0.096          0.634          0              0              0
  40  Shelf              -2.930         0.589          1.425          0              0              0
  41  GarbageCan         -0.061         -0.001         3.131          0              270            0
  42  LightSwitch        0.968          1.432          1.128          0              270            0
  43  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  44  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  45  Toilet             -0.694         0.026          0.656          0              90             0
  46  Faucet             -1.944         1.094          3.367          0              180            0
  47  Sink               -1.934         0.952          3.144          0              180            0
  48  SinkBasin          -1.926         0.960          3.091          0              180            0
  49  Faucet             -1.342         0.638          0.629          0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around and move forward, then turn left to go toward the shower, then turn left to face the tub. | STEP 2: Pick up the rag inside of the tub. | STEP 3: Turn around and go straight ahead to the sink. | STEP 4: Clean the rag inside of the sink. | STEP 5: Turn around and go forward to the tub. | STEP 6: Put the rag in the tub. | END