Task: Place a clean rag on the bathroom shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.903          0.25           0              270            0
   1  TissueBox          -0.980         0.289          2.157          0              0              0              24
   2  TissueBox          -0.653         1.070          2.127          0              0              0              28
   3  Cloth              0.371          0.048          0.839          0              0              0              27
   4  Candle             -1.144         1.814          2.247          0              0              0              26
   5  SprayBottle        -1.686         0.082          -0.549         0              270            0              31
   6  SprayBottle        -2.343         1.048          -0.644         0              0              0              33
   7  Candle             -0.212         0.650          1.742          0              45             0              20
   8  HandTowel          -1.743         1.502          -0.846         0              180            0              29
   9  Plunger            -2.666         0.002          -0.607         0              0              0              Floor|-01.07|
  10  SoapBar            -1.635         1.069          2.127          0              0              0              28
  11  ToiletPaper        -1.785         0.805          -0.769         0              0              270            23
  12  SoapBottle         -0.980         1.775          2.127          0              0              0              26
  13  TissueBox          -1.144         1.070          2.097          0              0              0              28
  14  Cloth              0.289          0.048          0.611          0              0              0              27
  15  ToiletPaper        -0.980         1.066          2.127          0              0              0              28
  16  Towel              0.266          1.550          -0.452         0              0              0              22
  17  ScrubBrush         -2.863         0.002          -0.662         0              0              0              Floor|-01.07|
  18  SprayBottle        -2.146         1.048          -0.736         0              0              0              33
  19  Mirror             -1.105         1.754          -0.884         0              0              0
  20  Bathtub            0.221          0.343          0.636          0              0              0
  21  Sink               -1.128         -0.001         -0.593         0              0              0
  22  TowelHolder        0.266          1.536          -0.559         0              0              0
  23  ToiletPaperHanger  -1.720         0.809          -0.885         0              0              0
  24  Shelf              -1.167         0.278          2.157          0              0              0
  25  SinkBasin          -1.133         0.836          -0.580         0              0              0
  26  Shelf              -1.167         1.763          2.157          0              0              0
  27  BathtubBasin       0.277          0.033          0.611          0              0              0
  28  Shelf              -1.167         1.059          2.157          0              0              0
  29  HandTowelHolder    -1.743         1.603          -0.884         0              270            0
  30  HandTowelHolder    -0.541         1.603          -0.884         0              270            0
  31  GarbageCan         -2.715         0.004          -0.513         0              270            0
  32  LightSwitch        -3.057         1.432          0.762          0              70.528         0
  33  Toilet             -2.150         0.002          -0.412         0              90             0
  34  Faucet             0.284          0.504          -0.489         0              0              0
  35  ShowerHead         0.232          1.906          1.834          0              0              0
  36  ShowerCurtain      -0.442         2.224          -0.405         0              0              0
  37  Faucet             -1.127         0.993          -0.837         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn around and walk to the bath tub. | STEP 2: Pick up the dirty rag on the right inside of the bath tub. | STEP 3: Turn around, then walk across the room and turn left towards the sink. | STEP 4: Rinse the dirty rag in the sink. | STEP 5: Pick up the rag, then turn around and walk towards the shelves. | STEP 6: Place the rag on the bottom shelf. | END