Task: Clean the dirty towel on the metal rack.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.25           0.913          -0.25          0              270            0
   1  Cloth              0.270          0.961          -1.899         0              0              0              29
   2  Cloth              -2.977         0.873          1.473          0              180            0              48
   3  Cloth              0.430          0.961          -2.087         0              0              0              29
   4  Candle             0.930          0.622          -2.020         0              0              0              37
   5  SprayBottle        -2.864         0.871          1.317          0              90             0              48
   6  SprayBottle        0.073          0.962          2.250          0              270            0              43
   7  DishSponge         -2.713         0.885          0.799          0              90             0              45
   8  SoapBottle         1.992          0.634          -2.389         0              0              0              37
   9  SoapBottle         1.780          0.634          -2.315         0              0              0              37
  10  Candle             1.355          0.622          -2.020         0              0              0              37
  11  HandTowel          -0.885         1.617          -2.503         0              180            0              38
  12  Towel              0.465          1.21           -1.095         0              270            0              34
  13  SoapBottle         -0.048         0.973          -2.087         0              0              0              29
  14  SoapBar            1.780          0.623          -2.094         0              0              0              37
  15  ToiletPaper        -0.208         0.959          -1.805         0              0              0              29
  16  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  17  SprayBottle        -0.527         0.959          -2.275         0              0              0              29
  18  TissueBox          0.270          0.963          -2.181         0              0              0              29
  19  ToiletPaper        -0.515         0.031          2.338          0              0              90             35
  20  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  21  Cloth              1.142          0.622          -2.389         0              0              0              37
  22  DishSponge         -2.010         0.078          -1.486         0              45             0              29
  23  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  24  Bathtub            -1.957         0.494          -1.233         0              0              0
  25  ShowerDoor         0.650          1.413          2.169          0              0              0
  26  ShowerGlass        0.0            0.0            0.0            0              0              0
  27  Drawer             0.300          0.304          -1.820         0              0              0
  28  Mirror             -0.046         1.512          -2.538         0              0              0
  29  CounterTop         0.196          0.430          -2.010         0              0              0
  30  Sink               -2.796         0.328          0.755          0              90             0
  31  Drawer             0.300          0.833          -1.820         0              0              0
  32  Drawer             0.300          0.682          -1.820         0              0              0
  33  Drawer             0.300          0.492          -1.820         0              0              0
  34  TowelHolder        0.572          1.195          -1.095         0              270            0
  35  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  36  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  37  Shelf              1.536          0.613          -2.242         0              0              0
  38  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  39  Window             -3.170         1.812          -1.697         90             90             0
  40  Window             -3.170         1.812          1.597          90             90             0
  41  Window             -2.144         1.809          -2.573         90             0              0
  42  Window             -3.170         1.812          -0.054         90             90             0
  43  Toilet             -0.064         0.012          1.838          0              180            0
  44  LightSwitch        -1.406         1.472          2.407          0              180            0
  45  SinkBasin          -2.796         0.875          0.765          0              90             0
  46  ShowerHead         1.591          1.700          -2.424         0              90             0
  47  Faucet             -2.676         0.423          -0.312         0              99.958         0
  48  SideTable          -2.847         0.013          1.509          0              90             0
  49  Faucet             -3.106         1.056          0.757          0              90             0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around, head towards the toilet, turn left and head towards the metal rack. | STEP 2: Pick up the dirty towel on the rack. | STEP 3: Turn left and head towards the sink on your right. | STEP 4: Place the towel in the sink, rinse it, and pick it back up. | STEP 5: Turn right and head towards the metal rack on your left. | STEP 6: Place the towel on the second rack right beneath the yellow bottle. | END