Task: Taking a dirty rag and cleaning it off to put away.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.902          -0.25          0              270            0
   1  Cloth              0.211          0.034          0.340          0              270            0              34
   2  Cloth              -1.732         0.081          0.825          0              0              0              25
   3  Candle             -3.051         1.001          0.631          0              0              0              22
   4  Candle             -1.642         0.122          0.567          0              0              0              25
   5  SoapBar            -2.586         0.081          0.502          0              0              0              23
   6  SoapBar            -2.957         0.182          -1.535         0              0              0              33
   7  SprayBottle        -0.926         1.047          0.784          0              180            0              38
   8  SprayBottle        -2.858         0.082          0.825          0              0              0              23
   9  SoapBottle         -0.173         0.518          0.178          0              0              0              24
  10  Towel              -0.490         1.367          0.902          0              180            0              32
  11  Candle             -0.188         0.558          0.690          0              0              0              24
  12  HandTowel          -3.096         1.587          0.744          0              270            0              36
  13  SoapBar            0.557          0.033          -0.324         0              270            0              34
  14  ToiletPaper        -1.416         0.816          0.665          0              90             270            37
  15  Cloth              -2.496         0.081          0.760          0              0              0              23
  16  ToiletPaper        -2.093         0.078          0.889          0              0              0              26
  17  SprayBottle        -2.004         0.082          0.567          0              0              0              26
  18  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  19  SoapBottle         -0.173         0.518          -0.077         0              0              0              24
  20  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  21  Cabinet            -3.094         0.390          0.421          0              0              0
  22  CounterTop         -2.298         0.953          0.689          0              0              0
  23  Cabinet            -2.305         0.415          0.425          0              0              0
  24  Bathtub            0.286          0.290          -0.077         0              0              0
  25  Cabinet            -1.496         0.415          0.425          0              0              0
  26  Cabinet            -2.286         0.390          0.421          0              0              0
  27  Sink               -1.924         0.930          0.675          0              180            0
  28  Faucet             -1.922         1.015          0.887          0              0              0
  29  Mirror             -2.306         1.526          1.001          0              0              0
  30  Faucet             -2.681         1.015          0.887          0              0              0
  31  LightSwitch        -1.389         1.263          -1.693         0              0              0
  32  TowelHolder        -0.490         1.353          1.009          0              180            0
  33  GarbageCan         -2.857         0.016          -1.487         0              0              0
  34  BathtubBasin       0.349          0.023          -0.135         0              270            0
  35  SinkBasin          -1.908         0.961          0.669          0              180            0
  36  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  37  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  38  Toilet             -1.054         0.001          0.552          0              270            0
  39  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  40  Faucet             0.270          0.670          0.906          0              0              0
  41  SinkBasin          -2.666         0.961          0.669          0              180            0
  42  Sink               -2.681         0.930          0.675          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around to go towards the tub then to the left near the plungers and to the right facing the edge of the tub near the wall. | STEP 2: Pick up the purple rag that is sitting in the tub. | STEP 3: Turn to your right then right again to walk away from the tub, then make a right so you are facing the sink near the toilet. | STEP 4: Put the purple rag in the sink and turn on the water. Turn off the water and take the rag back out. | STEP 5: Turn back around and go back towards the tub. Make a left at the tub and turn around to face the toilet. | STEP 6: Place the rag on top of the toilet next to the spray bottle. | END