Task: Put a cleaned 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              -1.5           0.903          3.25           0              270            0
   1  SprayBottle        0.205          1.055          3.915          0              0              0              20
   2  ToiletPaper        -0.145         0.148          1.382          0              90             0              28
   3  Towel              -2.393         1.478          0.580          0              90             0              23
   4  Candle             -0.144         0.713          0.863          0              0              0              17
   5  Cloth              -1.214         0.164          0.556          0              0              0              26
   6  HandTowel          0.397          1.656          2.039          0              180            0              27
   7  Plunger            0.480          0.002          4.793          0              0              0
   8  SoapBar            -0.680         0.164          0.375          0              0              0              26
   9  ToiletPaper        -0.047         0.971          4.911          0              180            90             24
  10  ToiletPaper        0.760          1.044          4.277          0              270            0              29
  11  SoapBottle         0.392          1.058          3.713          0              0              0              20
  12  SprayBottle        0.699          1.048          4.473          0              270            0              29
  13  ScrubBrush         0.688          0.002          4.867          0              0              0
  14  Sink               0.426          1.037          2.947          0              270            0
  15  Window             -2.548         1.673          2.405          0              0              0
  16  Cabinet            0.068          0.366          3.772          0              0              0
  17  Bathtub            -1.042         0.155          0.558          0              0              0
  18  SinkBasin          0.404          0.926          2.926          0              270            0
  19  Mirror             0.858          1.863          2.972          0              0              0
  20  CounterTop         0.487          1.015          3.090          0              0              0
  21  Faucet             -0.207         0.687          0.546          0              0              0
  22  Cabinet            0.074          0.379          2.045          0              0              0
  23  TowelHolder        -2.5           1.463          0.579          0              90             0
  24  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  25  LightSwitch        -1.121         1.333          5.000          0              180            0
  26  BathtubBasin       -1.062         0.153          0.556          0              0              0
  27  HandTowelHolder    0.398          1.758          2.000          0              270            0
  28  GarbageCan         -0.229         0.001          1.445          0              270            0
  29  Toilet             0.376          0.002          4.470          0              0              0
  30  Faucet             0.661          1.043          3.371          0              270            0
  31  Faucet             0.661          1.043          2.520          0              270            0
  32  NorthWall
  33  EastWall
  34  SouthWall
  35  WestWall

Plan:
STEP 1: Move to the tub to the left of the window | STEP 2: Pick up a rag from the tub | STEP 3: Move to the sink to the left | STEP 4: Clean the rag in the sink | STEP 5: Move to the tub to the left of the window | STEP 6: Put a rag in the tub | END