Task: Put the washed yellow cloth on the shelf

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          0.903          0.0            0              90             0
   1  TissueBox          -0.817         1.773          2.097          0              0              0              28
   2  TissueBox          -1.144         1.070          2.127          0              0              0              30
   3  SoapBar            0.453          0.043          -0.071         0              0              0              29
   4  SoapBar            -2.343         1.046          -0.797         0              0              0              35
   5  Candle             -2.015         1.088          -0.644         0              0              0              35
   6  SoapBottle         -1.144         1.775          2.217          0              0              0              28
   7  SoapBottle         -2.212         1.049          -0.766         0              0              0              35
   8  ToiletPaper        -1.660         0.809          -0.769         0              0              90             25
   9  Candle             -0.980         0.330          2.067          0              0              0              26
  10  HandTowel          -0.541         1.502          -0.846         0              180            0              32
  11  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  12  SoapBar            -2.343         1.046          -0.674         0              0              0              35
  13  ToiletPaper        -1.666         0.078          -0.620         0              270            0              25
  14  SoapBottle         -1.471         1.072          2.097          0              0              0              30
  15  TissueBox          -1.635         1.773          2.097          0              0              0              28
  16  Cloth              0.453          0.048          0.384          0              0              0              29
  17  ToiletPaper        -0.980         1.769          2.097          0              0              0              28
  18  Towel              0.266          1.550          -0.452         0              0              0              24
  19  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  20  SprayBottle        -0.653         0.289          2.097          0              0              0              26
  21  Mirror             -1.105         1.754          -0.884         0              0              0
  22  Bathtub            0.221          0.343          0.636          0              0              0
  23  Sink               -1.128         -0.001         -0.593         0              0              0
  24  TowelHolder        0.266          1.536          -0.559         0              0              0
  25  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  26  Shelf              -1.167         0.278          2.157          0              0              0
  27  SinkBasin          -1.133         0.836          -0.580         0              0              0
  28  Shelf              -1.167         1.763          2.157          0              0              0
  29  BathtubBasin       0.277          0.033          0.611          0              0              0
  30  Shelf              -1.167         1.059          2.157          0              0              0
  31  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  32  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  33  GarbageCan         -2.715         0.004          -0.513         0              270            0
  34  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  35  Toilet             -2.150         0.002          -0.412         0              90             0
  36  Faucet             0.284          0.504          -0.489         0              0              0
  37  ShowerHead         0.232          1.906          1.834          0              0              0
  38  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  39  Faucet             -1.127         0.993          -0.837         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Move slightly left then turn back right to face the bathtub | STEP 2: Pick up the yellow cloth from the tub | STEP 3: Turn around and walk up to the sink | STEP 4: Wash the yellow cloth under water in the sink then remove it | STEP 5: Turn around and walk up to the white shelves against the wall | STEP 6: Put the cloth down on the bottom shelf | END