Task: place a clean cloth in 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          0.900          -0.75          0              90             0
   1  Cloth              -0.116         1.166          -3.202         0              90             0              39
   2  Cloth              -2.649         0.085          -0.822         0              90             0              31
   3  Candle             -2.547         0.991          -2.923         0              0              0              25
   4  Candle             -0.114         0.352          -3.471         0              90             0              36
   5  SprayBottle        -2.694         0.993          -2.391         0              0              0              25
   6  SprayBottle        -0.087         1.045          -0.478         0              270            0              34
   7  ToiletPaper        -0.103         0.866          -1.033         0              270            270            32
   8  HandTowel          -0.038         1.481          -2.661         0              90             0              28
   9  SoapBar            -0.162         0.878          -3.181         0              90             0              38
  10  ToiletPaper        -2.576         0.354          -2.505         0              0              0              23
  11  ToiletPaper        -2.694         0.989          -2.923         0              0              0              25
  12  Towel              -1.338         1.193          -0.106         0              180            0              26
  13  SoapBottle         -2.608         0.359          -2.923         0              0              0              23
  14  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  15  Cloth              -2.841         0.997          -3.454         0              0              0              25
  16  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  17  Candle             -0.162         0.352          -3.543         0              90             0              36
  18  SprayBottle        -2.915         0.993          -2.923         0              0              0              25
  19  Bathtub            -2.104         0.524          -0.828         0              0              0
  20  Faucet             -0.040         1.017          -2.076         0              270            0
  21  Sink               -0.307         0.0            -2.076         0              270            0
  22  Mirror             -2.983         1.565          -2.900         0              0              0
  23  Shelf              -2.581         0.395          -2.923         0              0              0
  24  Shelf              -2.539         0.130          -2.923         0              0              0
  25  CounterTop         -2.704         1.029          -2.923         0              0              0
  26  TowelHolder        -1.338         1.179          0.0            0              180            0
  27  LightSwitch        -0.363         1.330          -3.999         0              0              0
  28  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  29  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  30  SinkBasin          -0.310         0.859          -2.076         0              0              0
  31  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  32  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  33  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  34  Toilet             -0.411         -0.000         -0.547         0              0              0
  35  Drawer             -0.229         0.161          -3.398         0              270            0
  36  Drawer             -0.229         0.420          -3.398         0              270            0
  37  Drawer             -0.229         0.680          -3.398         0              270            0
  38  Drawer             -0.229         0.940          -3.398         0              270            0
  39  Dresser            -0.205         0.000          -3.398         0              270            0
  40  ShowerHead         -2.579         1.261          -0.064         0              270            0
  41  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  42  EastWall
  43  EastWall
  44  SouthWall

Plan:
STEP 1: turn right and walk to the end of the room, then turn right to face the counter | STEP 2: grab the cloth off of the counter | STEP 3: turn around and walk over to the sink on the opposite side of the room | STEP 4: rinse the cloth out in the sink, then pick it back up | STEP 5: turn right and walk back over to the counter in the corner of the room | STEP 6: place the clean cloth in the second shelf from the bottom | END