Task: To clean a rag as well as put it back in the bath tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          0.25           0              270            0
   1  SoapBar            -0.996         0.908          -1.622         0              0              0              25
   2  SoapBar            -1.969         0.908          -1.350         0              0              0              25
   3  Candle             -0.254         0.015          -1.486         0              0              0              28
   4  Candle             -1.841         1.042          0.272          0              90             0              43
   5  SprayBottle        -1.177         0.018          -1.486         0              0              0              22
   6  SprayBottle        -0.686         0.017          -1.486         0              0              0              22
   7  SoapBottle         -1.411         0.019          -1.587         0              0              0              21
   8  SoapBottle         -1.963         1.046          0.337          0              180            0              43
   9  ToiletPaper        -1.118         0.014          -1.638         0              0              0              21
  10  Towel              0.89           1.368          -1.755         0              0              0              35
  11  HandTowel          -2.028         1.492          -1.482         0              270            0              41
  12  SoapBar            0.573          0.591          -0.433         0              0              0              30
  13  ToiletPaper        -1.199         0.919          0.680          0              180            270            36
  14  ToiletPaper        -1.902         1.041          0.403          0              90             0              43
  15  Cloth              1.000          0.171          -0.962         0              270            0              39
  16  SprayBottle        -0.803         0.017          -1.486         0              0              0              22
  17  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  18  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  19  Candle             -1.933         1.042          0.206          0              90             0              43
  20  SoapBottle         0.098          0.154          -1.537         0              90             0              42
  21  Cabinet            -1.052         0.340          -1.327         0              0              0
  22  Cabinet            -1.039         0.340          -1.327         0              0              0
  23  ShowerGlass        0.919          1.417          -0.206         0              0              0
  24  Sink               -1.560         0.811          -1.598         0              0              0
  25  CounterTop         -1.041         0.884          -1.531         0              0              0
  26  ShowerDoor         0.451          0.926          0.696          0              0              0
  27  Faucet             -0.505         0.898          -1.779         0              0              0
  28  Cabinet            -0.071         0.340          -1.327         0              0              0
  29  Mirror             -1.014         1.501          -1.840         0              0              0
  30  Bathtub            0.883          0.392          -1.154         0              0              0
  31  Cabinet            -2.020         0.340          -1.327         0              0              0
  32  Sink               -0.526         0.811          -1.598         0              0              0
  33  Window             1.532          1.672          -1.037         0              0              0
  34  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  35  TowelHolder        0.889          1.353          -1.861         0              0              0
  36  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  37  LightSwitch        0.224          1.333          0.762          0              180            0
  38  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  39  BathtubBasin       0.938          0.160          -1.126         0              270            0
  40  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  41  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  42  GarbageCan         0.122          -0.002         -1.558         0              270            0
  43  Toilet             -1.610         -0.000         0.209          0              180            0
  44  Faucet             -1.537         0.898          -1.779         0              0              0
  45  Faucet             0.929          0.509          -1.978         0              0              0
  46  Faucet             0.890          1.689          0.724          0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around and cross the room to face the bath tub. | STEP 2: Pick up the dirty rag in the bath tub. | STEP 3: Turn to the right and face the left side sink. | STEP 4: Wash the rag in the sink and pick it back up. | STEP 5: Turn around and walk forward to the bath tub. | STEP 6: Place the clean rag in the front of the tub by the drain. | END