Task: put rag on bathroom counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          0.25           0              270            0
   1  Cloth              -2.736         0.938          2.380          0              90             0              46
   2  Candle             -2.456         0.937          2.818          0              0              0              38
   3  SoapBar            -2.664         1.663          2.996          0              0              0              32
   4  SoapBar            -2.783         1.663          3.149          0              0              0              32
   5  SprayBottle        -2.604         0.930          1.757          0              0              0              38
   6  SprayBottle        -2.714         0.907          2.996          0              0              0              28
   7  DishSponge         -2.530         0.930          1.714          0              0              0              38
   8  SoapBottle         -2.456         0.928          1.800          0              0              0              38
   9  SoapBottle         -2.605         1.663          3.149          0              0              0              32
  10  Towel              -0.106         1.510          1.943          0              270            0              40
  11  Candle             -2.864         0.912          3.364          0              0              0              30
  12  SoapBottle         -0.207         0.051          0.274          0              270            0              44
  13  HandTowel          -2.698         1.521          2.867          0              0              0              41
  14  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  15  SoapBar            -2.903         1.077          0.455          0              90             0              48
  16  ToiletPaper        -2.483         0.089          3.039          0              0              0              37
  17  Cloth              -2.712         0.746          3.240          0              0              0              34
  18  ToiletPaper        -2.902         1.074          0.783          0              90             0              48
  19  SprayBottle        -2.678         0.930          2.776          0              0              0              38
  20  PaperTowelRoll     -2.701         1.311          1.400          0              270            0              39
  21  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  22  DishSponge         -2.671         0.090          2.324          0              0              0              27
  23  Cabinet            -2.410         0.371          2.862          0              0              0
  24  Mirror             -2.973         1.613          2.265          0              0              0
  25  Bathtub            -0.435         0.182          1.575          0              0              0
  26  Cabinet            -2.410         0.371          3.570          0              0              0
  27  Cabinet            -2.410         0.371          2.040          0              0              0
  28  Cabinet            -2.410         1.261          2.913          0              0              0
  29  Faucet             -0.769         0.416          1.0            0              9.958          0
  30  Cabinet            -2.410         1.261          3.570          0              0              0
  31  Sink               -2.723         0.862          2.231          0              90             0
  32  Cabinet            -2.410         2.022          2.913          0              0              0
  33  Cabinet            -2.410         0.371          1.585          0              0              0
  34  Drawer             -2.638         0.767          3.239          0              0              0
  35  Cabinet            -2.410         2.022          3.570          0              0              0
  36  Faucet             -2.928         0.978          2.231          0              90             0
  37  Cabinet            -2.410         0.371          2.913          0              0              0
  38  CounterTop         -2.688         0.966          2.260          0              0              0
  39  CounterTop         -2.611         1.243          1.455          0              270            0
  40  TowelHolder        0.0            1.496          1.942          0              270            0
  41  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  42  Window             -2.256         1.656          -0.021         90             0              0
  43  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  44  GarbageCan         -0.403         -0.027         0.241          0              0              0
  45  BathtubBasin       -0.435         0.185          1.544          0              0              0
  46  SinkBasin          -2.736         0.929          2.241          0              90             0
  47  LightSwitch        -1.675         1.442          3.610          0              180            0
  48  Toilet             -2.579         0.032          0.656          0              180            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: walk to face sink | STEP 2: pick up purple rag from inside sink basin | STEP 3: put rag on counter to right of sink | END