Task: Put a clean rag on the rack.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          2.5            0              90             0
   1  Cloth              -0.142         0.053          0.654          0              0              0              23
   2  Cloth              -0.311         0.053          0.193          0              0              0              23
   3  SprayBottle        -0.914         0.044          3.887          0              0              0              35
   4  Towel              -1.304         1.059          -0.183         0              0              0              29
   5  HandTowel          -3.420         1.356          2.098          0              270            0              37
   6  ToiletPaper        -3.376         0.232          0.390          0              270            0              42
   7  Towel              -2.05          1.059          -0.183         0              0              0              28
   8  HandTowel          -3.420         1.356          0.816          0              270            0              37
   9  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  10  SoapBar            -3.037         0.235          0.234          0              270            0              42
  11  ToiletPaper        -3.376         0.229          0.234          0              270            0              42
  12  SoapBottle         -3.387         1.044          1.442          0              0              0              40
  13  ToiletPaper        0.416          1.043          3.034          0              270            0              38
  14  Cloth              0.025          0.053          1.114          0              0              0              23
  15  PaperTowelRoll     -3.263         0.969          0.390          0              270            0              42
  16  Candle             -3.093         0.236          0.000          0              270            0              42
  17  SprayBottle        -3.206         0.234          0.078          0              270            0              42
  18  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  19  DishSponge         -3.166         0.856          1.491          0              90             0              41
  20  Faucet             -0.141         0.524          -0.211         0              0              0
  21  Window             -1.507         1.322          -0.364         0              0              0
  22  Faucet             -3.401         1.017          1.531          0              90             0
  23  BathtubBasin       -0.155         0.042          0.884          0              0              0
  24  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  25  ShowerHead         -0.126         1.447          2.047          0              270            0
  26  Bathtub            -0.205         0.359          0.924          0              0              0
  27  Mirror             -3.447         1.575          1.516          0              0              0
  28  TowelHolder        -2.049         1.045          -0.290         0              0              0
  29  TowelHolder        -1.304         1.045          -0.290         0              0              0
  30  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  31  Shelf              -2.587         0.778          3.909          0              0              0
  32  Shelf              -2.587         1.287          3.941          0              0              0
  33  Shelf              -2.587         1.032          3.941          0              0              0
  34  Shelf              -2.587         1.534          3.909          0              0              0
  35  GarbageCan         0.047          -0.002         3.878          0              0              0
  36  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  37  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  38  Toilet             0.063          0.002          3.096          0              0              0
  39  LightSwitch        -3.459         1.437          2.496          0              90             0
  40  Sink               -3.115         -0.013         1.531          0              90             0
  41  SinkBasin          -3.081         0.935          1.537          0              90             0
  42  SideTable          -3.171         0.002          0.170          0              270            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Walk across the room to the tub. | STEP 2: Pick up the dirty rag in the middle of the other two dirty rags. | STEP 3: Take the dirty rag to the sink. | STEP 4: Rinse off the dirty rag in the sink. | STEP 5: Take the clean rag to the shelves in the corner. | STEP 6: Put the cleaned rag on the top rack. | END