Task: Clean the rag, put it 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              -2.0           0.913          0.25           0              270            0
   1  Cloth              -2.977         0.873          1.629          0              90             0              46
   2  Cloth              -0.048         0.961          -1.899         0              0              0              27
   3  TissueBox          -2.864         0.246          1.629          0              90             0              46
   4  TissueBox          0.270          0.963          -1.993         0              0              0              27
   5  SprayBottle        0.430          0.959          -2.181         0              0              0              27
   6  SoapBottle         -2.864         0.885          1.239          0              90             0              46
   7  SoapBottle         1.992          0.634          -2.168         0              0              0              35
   8  Candle             -0.527         0.962          -2.087         0              0              0              27
   9  HandTowel          -0.885         1.617          -2.503         0              180            0              36
  10  Towel              0.465          1.21           -1.095         0              270            0              32
  11  SoapBottle         0.073          0.976          2.223          0              270            0              41
  12  SoapBar            -2.754         0.884          0.679          0              90             0              43
  13  ToiletPaper        1.355          0.620          -2.168         0              0              0              35
  14  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  15  SprayBottle        1.142          0.620          -2.315         0              0              0              35
  16  TissueBox          -2.921         0.244          1.473          0              90             0              46
  17  ToiletPaper        -0.515         0.031          2.338          0              0              90             33
  18  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  19  Cloth              -2.140         0.075          -1.145         0              45             0              Floor|-00.35|
  20  DishSponge         0.430          0.964          -1.899         0              0              0              27
  21  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  22  Bathtub            -1.957         0.494          -1.233         0              0              0
  23  ShowerDoor         0.650          1.413          2.169          0              0              0
  24  ShowerGlass        0.0            0.0            0.0            0              0              0
  25  Drawer             0.300          0.304          -1.820         0              0              0
  26  Mirror             -0.046         1.512          -2.538         0              0              0
  27  CounterTop         0.196          0.430          -2.010         0              0              0
  28  Sink               -2.796         0.328          0.755          0              90             0
  29  Drawer             0.300          0.833          -1.820         0              0              0
  30  Drawer             0.300          0.682          -1.820         0              0              0
  31  Drawer             0.300          0.492          -1.820         0              0              0
  32  TowelHolder        0.572          1.195          -1.095         0              270            0
  33  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  34  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  35  Shelf              1.536          0.613          -2.242         0              0              0
  36  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  37  Window             -3.170         1.812          -1.697         90             90             0
  38  Window             -3.170         1.812          1.597          90             90             0
  39  Window             -2.144         1.809          -2.573         90             0              0
  40  Window             -3.170         1.812          -0.054         90             90             0
  41  Toilet             -0.064         0.012          1.838          0              180            0
  42  LightSwitch        -1.406         1.472          2.407          0              180            0
  43  SinkBasin          -2.796         0.875          0.765          0              90             0
  44  ShowerHead         1.591          1.700          -2.424         0              90             0
  45  Faucet             -2.676         0.423          -0.312         0              99.958         0
  46  SideTable          -2.847         0.013          1.509          0              90             0
  47  Faucet             -3.106         1.056          0.757          0              90             0
  48
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move to the tub. | STEP 2: Pick up the dirty rag in the tub.  | STEP 3: Bring the rag to the sink.  | STEP 4: Clean the rag in with water in the sink.  | STEP 5: Bring the rag to the metal rack.  | STEP 6: Put the rag on the rack to the left of the dirty rag.  | END