Task: clean up a rag inside the tub and put it 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              -1.25          0.901          1.5            0              180            0
   1  Cloth              -0.058         0.053          0.423          0              0              0              25
   2  Cloth              -2.667         1.543          3.879          0              0              0              36
   3  SoapBar            -3.037         0.863          0.078          0              270            0              44
   4  Candle             -2.480         0.789          4.000          0              0              0              33
   5  SprayBottle        -3.206         0.234          0.390          0              270            0              44
   6  SprayBottle        -3.150         0.234          0.000          0              270            0              44
   7  DishSponge         -3.206         0.236          0.156          0              270            0              44
   8  ToiletPaper        0.447          1.043          3.166          0              270            0              40
   9  Towel              -2.05          1.059          -0.183         0              0              0              30
  10  HandTowel          -3.419         1.338          2.102          0              270            0              38
  11  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  12  SoapBar            -0.058         0.052          0.654          0              0              0              25
  13  ToiletPaper        -0.867         0.039          3.887          0              0              0              37
  14  SoapBottle         -0.723         0.045          3.914          0              0              0              37
  15  ToiletPaper        -0.482         0.784          2.361          0              0              270            32
  16  Cloth              -2.761         0.788          3.879          0              0              0              33
  17  PaperTowelRoll     -3.263         0.341          0.000          0              270            0              44
  18  Candle             -2.855         1.043          3.942          0              0              0              35
  19  SprayBottle        -3.319         0.236          0.390          0              270            0              44
  20  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  21  DishSponge         -0.227         0.054          1.575          0              0              0              25
  22  Faucet             -0.141         0.524          -0.211         0              0              0
  23  Window             -1.507         1.322          -0.364         0              0              0
  24  Faucet             -3.401         1.017          1.531          0              90             0
  25  BathtubBasin       -0.155         0.042          0.884          0              0              0
  26  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  27  ShowerHead         -0.126         1.447          2.047          0              270            0
  28  Bathtub            -0.205         0.359          0.924          0              0              0
  29  Mirror             -3.447         1.575          1.516          0              0              0
  30  TowelHolder        -2.049         1.045          -0.290         0              0              0
  31  TowelHolder        -1.304         1.045          -0.290         0              0              0
  32  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  33  Shelf              -2.587         0.778          3.909          0              0              0
  34  Shelf              -2.587         1.287          3.941          0              0              0
  35  Shelf              -2.587         1.032          3.941          0              0              0
  36  Shelf              -2.587         1.534          3.909          0              0              0
  37  GarbageCan         0.047          -0.002         3.878          0              0              0
  38  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  39  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  40  Toilet             0.063          0.002          3.096          0              0              0
  41  LightSwitch        -3.459         1.437          2.496          0              90             0
  42  Sink               -3.115         -0.013         1.531          0              90             0
  43  SinkBasin          -3.081         0.935          1.537          0              90             0
  44  SideTable          -3.171         0.002          0.170          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: look down and walk straight towards the towel rack and turn left towards the tub | STEP 2: pick up the rag inside of the tub | STEP 3: turn around and walk straight towards the shelf and look down | STEP 4: put the rag down on the top of the shelf  | END