Task: Place a clean rag on a 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          -3.75          0              180            0
   1  Cloth              -2.547         0.997          -3.454         0              0              0              28
   2  Cloth              -2.694         0.997          -2.657         0              0              0              28
   3  Cloth              -2.694         0.997          -2.125         0              0              0              28
   4  Candle             -0.116         1.163          -3.202         0              90             0              42
   5  Candle             -0.185         0.352          -3.326         0              90             0              39
   6  SprayBottle        -0.221         0.044          -2.747         0              180            0              36
   7  SprayBottle        -0.245         1.162          -3.104         0              90             0              42
   8  SoapBar            -2.473         0.992          -2.391         0              0              0              28
   9  SoapBar            -0.191         0.043          -2.798         0              90             0              36
  10  ToiletPaper        -0.148         1.161          -3.497         0              90             0              42
  11  HandTowel          -0.038         1.481          -1.549         0              90             0              32
  12  SoapBar            -2.536         0.093          -3.340         0              0              0              27
  13  ToiletPaper        -2.608         0.354          -2.505         0              0              0              26
  14  ToiletPaper        -0.212         1.161          -3.693         0              90             0              42
  15  Towel              -1.338         1.193          -0.106         0              180            0              29
  16  SoapBottle         -0.087         1.046          -0.478         0              270            0              37
  17  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  18  Cloth              -2.524         0.085          -1.110         0              90             0              34
  19  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  20  Candle             -0.149         1.043          -0.347         0              270            0              37
  21  SprayBottle        -0.212         1.162          -3.399         0              90             0              42
  22  Bathtub            -2.104         0.524          -0.828         0              0              0
  23  Faucet             -0.040         1.017          -2.076         0              270            0
  24  Sink               -0.307         0.0            -2.076         0              270            0
  25  Mirror             -2.983         1.565          -2.900         0              0              0
  26  Shelf              -2.581         0.395          -2.923         0              0              0
  27  Shelf              -2.539         0.130          -2.923         0              0              0
  28  CounterTop         -2.704         1.029          -2.923         0              0              0
  29  TowelHolder        -1.338         1.179          0.0            0              180            0
  30  LightSwitch        -0.363         1.330          -3.999         0              0              0
  31  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  32  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  33  SinkBasin          -0.310         0.859          -2.076         0              0              0
  34  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  35  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  36  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  37  Toilet             -0.411         -0.000         -0.547         0              0              0
  38  Drawer             -0.229         0.161          -3.398         0              270            0
  39  Drawer             -0.229         0.420          -3.398         0              270            0
  40  Drawer             -0.229         0.680          -3.398         0              270            0
  41  Drawer             -0.229         0.940          -3.398         0              270            0
  42  Dresser            -0.205         0.000          -3.398         0              270            0
  43  ShowerHead         -2.579         1.261          -0.064         0              270            0
  44  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  45  EastWall
  46  EastWall
  47  SouthWall

Plan:
STEP 1: Turn around and take a step forward then turn left and face the long greenish counter top  | STEP 2: Pick up the dirty rag in the middle | STEP 3: Turn around and take a step forward, then turn left , take a right at the toilet then turn right to face the side of the sink | STEP 4: Place the dirty rag into the sink and turn on the water to rinse it off. Then turn off the water and pick up the rag that is now clean. | STEP 5: Turn to the right and go to the long green counter that is ahead of you on the left | STEP 6: Place the clean rag on the second shelf to the left of the roll of toilet paper | END