Task: place a rag inside 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           0.904          0.0            0              180            0
   1  SprayBottle        -3.053         1.870          1.574          0              180            0              19
   2  SprayBottle        -2.810         1.003          -0.365         0              0              0              28
   3  Candle             -3.009         1.870          1.524          0              0              0              19
   4  SoapBottle         -3.193         1.050          1.263          0              90             0              35
   5  Towel              -1.615         1.398          1.800          0              180            0              30
   6  HandTowel          -2.96          1.593          -0.728         0              180            0              31
   7  SoapBar            -1.066         0.512          0.080          0              0              0              21
   8  ToiletPaper        -3.189         0.999          -0.680         0              0              0              28
   9  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             34
  10  Candle             -3.224         1.050          1.394          0              90             0              35
  11  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  12  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  13  SoapBottle         -2.974         0.051          0.869          0              0              0              29
  14  Cloth              -2.970         0.108          -0.600         0              0              0              18
  15  SprayBottle        -2.969         0.110          -0.022         0              0              0              23
  16  Faucet             -0.618         0.667          1.805          0              0              0
  17  Cabinet            -2.761         0.446          0.599          0              0              0
  18  Cabinet            -2.756         0.421          -0.759         0              0              0
  19  Cabinet            -2.905         2.098          1.878          0              0              0
  20  Sink               -3.016         0.865          0.207          0              90             0
  21  Bathtub            -0.603         0.286          0.832          0              0              0
  22  SinkBasin          -3.016         0.874          0.217          0              90             0
  23  Cabinet            -2.756         0.421          -0.272         0              0              0
  24  Faucet             -3.313         0.989          0.207          0              90             0
  25  Cabinet            -2.900         2.053          1.005          0              0              0
  26  BathtubBasin       -0.558         0.023          0.811          0              0              0
  27  Mirror             -3.348         1.476          0.020          0              0              0
  28  CounterTop         -3.049         1.039          -0.442         0              0              0
  29  GarbageCan         -3.080         -0.007         0.899          0              0              0
  30  TowelHolder        -1.615         1.383          1.907          0              180            0
  31  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  32  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  33  LightSwitch        -2.313         1.426          -0.766         0              0              0
  34  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  35  Toilet             -2.931         0.003          1.364          0              180            0
  36  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: turn right towards the shelf | STEP 2: pick up the rag | STEP 3: turn around and head for the bath tub | STEP 4: place the rag inside the tub | END