Task: Place a clean rag on top of 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              -2.5           0.901          3.5            0              180            0
   1  Cloth              0.025          0.053          1.114          0              0              0              27
   2  Cloth              -3.263         0.863          0.078          0              270            0              46
   3  SoapBar            0.240          0.630          2.016          0              317.956        0              30
   4  SoapBar            -0.533         0.630          -0.233         0              137.956        0              30
   5  Candle             0.477          1.048          3.100          0              270            0              42
   6  Candle             0.294          1.048          2.969          0              270            0              42
   7  DishSponge         -0.058         0.054          0.654          0              0              0              27
   8  SoapBottle         -0.771         0.045          3.832          0              0              0              39
   9  SoapBottle         -0.867         0.045          3.805          0              0              0              39
  10  Towel              -1.304         1.059          -0.183         0              0              0              33
  11  Towel              -2.05          1.059          -0.183         0              0              0              32
  12  HandTowel          -3.419         1.338          2.102          0              270            0              40
  13  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  14  SoapBar            -3.126         0.855          1.451          0              90             0              45
  15  ToiletPaper        -0.736         0.627          1.839          0              0              0              30
  16  SoapBottle         -3.376         0.238          0.078          0              270            0              46
  17  ToiletPaper        -2.310         0.777          3.875          0              0              0              35
  18  Cloth              0.025          0.053          1.345          0              0              0              27
  19  PaperTowelRoll     -2.761         1.649          3.970          0              0              0              38
  20  Candle             -2.761         1.298          3.919          0              0              0              38
  21  SprayBottle        0.294          1.048          3.100          0              270            0              42
  22  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  23  DishSponge         0.355          1.048          3.231          0              270            0              42
  24  Faucet             -0.141         0.524          -0.211         0              0              0
  25  Window             -1.507         1.322          -0.364         0              0              0
  26  Faucet             -3.401         1.017          1.531          0              90             0
  27  BathtubBasin       -0.155         0.042          0.884          0              0              0
  28  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  29  ShowerHead         -0.126         1.447          2.047          0              270            0
  30  Bathtub            -0.205         0.359          0.924          0              0              0
  31  Mirror             -3.447         1.575          1.516          0              0              0
  32  TowelHolder        -2.049         1.045          -0.290         0              0              0
  33  TowelHolder        -1.304         1.045          -0.290         0              0              0
  34  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  35  Shelf              -2.587         0.778          3.909          0              0              0
  36  Shelf              -2.587         1.287          3.941          0              0              0
  37  Shelf              -2.587         1.032          3.941          0              0              0
  38  Shelf              -2.587         1.534          3.909          0              0              0
  39  GarbageCan         0.047          -0.002         3.878          0              0              0
  40  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  41  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  42  Toilet             0.063          0.002          3.096          0              0              0
  43  LightSwitch        -3.459         1.437          2.496          0              90             0
  44  Sink               -3.115         -0.013         1.531          0              90             0
  45  SinkBasin          -3.081         0.935          1.537          0              90             0
  46  SideTable          -3.171         0.002          0.170          0              270            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Walk across the room and turn to the metal rack on your right. | STEP 2: Pick up the dirty rag off the top of the rack. | STEP 3: Turn right and walk to the sink. | STEP 4: Place the dirty rag into the sink next to the soap and turn on the water, then take it back out. | STEP 5: Turn to your left and walk back to the metal rack. | STEP 6: Place the rag on top of the metal rack. | END