Task: Put a black rag on the silver rack.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.901          0.5            0              180            0
   1  Cloth              -2.667         1.543          3.909          0              0              0              34
   2  Cloth              -0.142         0.053          0.654          0              0              0              23
   3  Candle             -3.263         0.234          0.000          0              270            0              42
   4  DishSponge         0.025          0.054          1.345          0              0              0              23
   5  DishSponge         -2.480         0.789          3.940          0              0              0              31
   6  SoapBottle         -2.293         1.044          3.942          0              0              0              33
   7  Towel              -2.05          1.059          -0.183         0              0              0              28
   8  HandTowel          -3.419         1.338          2.102          0              270            0              36
   9  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  10  SoapBar            -3.007         0.855          1.451          0              90             0              41
  11  ToiletPaper        -0.482         0.784          2.361          0              0              270            30
  12  SoapBottle         0.355          1.049          3.166          0              270            0              38
  13  ToiletPaper        -2.310         0.777          3.875          0              0              0              31
  14  Cloth              0.025          0.053          1.575          0              0              0              23
  15  PaperTowelRoll     -0.702         0.736          1.854          0              227.956        0              26
  16  Candle             0.324          1.048          3.034          0              270            0              38
  17  SprayBottle        -3.263         0.864          -0.077         0              270            0              42
  18  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  19  DishSponge         -3.263         0.236          0.390          0              270            0              42
  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: Turn left to face the bathtub. | STEP 2: Pick up the black rag from the right side of the bathtub. | STEP 3: Turn around and walk to the silver rack. | STEP 4: Put the black rag on the top shelf of the silver rack. | END