Task: wash a dirty tissue and put it back where it was

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           0.901          1.5            0              90             0
   1  SoapBar            0.389          0.819          2.380          0              0              0              23
   2  SoapBar            0.446          0.512          3.271          0              0              0              15
   3  HandTowel          0.634          1.512          1.892          0              90             0              33
   4  SoapBottle         0.563          1.052          1.664          0              270            0              35
   5  HandTowel          0.634          1.512          3.564          0              90             0              34
   6  Towel              -0.442         1.375          1.282          0              0              0              28
   7  SoapBar            0.334          0.511          3.392          0              0              0              15
   8  ToiletPaper        0.624          1.041          1.336          0              270            0              35
   9  ToiletPaper        0.308          0.615          1.912          0              180            90             30
  10  Candle             0.655          1.046          1.467          0              270            0              35
  11  ScrubBrush         0.553          0.000          1.725          0              0              0
  12  Cloth              0.588          0.824          2.161          0              0              0              23
  13  Plunger            0.594          -0.000         1.898          0              0              0
  14  SprayBottle        0.563          1.046          1.533          0              270            0              35
  15  Drawer             0.443          0.624          3.310          0              0              0
  16  Drawer             0.443          0.323          2.194          0              0              0
  17  ShowerDoor         -0.923         1.032          1.155          0              0              0
  18  Sink               0.495          0.661          2.756          0              270            0
  19  Drawer             0.443          0.624          2.193          0              0              0
  20  Faucet             0.717          0.982          2.756          0              0              0
  21  Mirror             0.629          1.532          2.697          0              0              0
  22  ShowerGlass        -0.152         1.266          1.156          0              0              0
  23  CounterTop         0.458          0.789          2.759          0              0              0
  24  Drawer             0.443          0.323          2.566          0              0              0
  25  Drawer             0.443          0.323          2.937          0              0              0
  26  Drawer             0.443          0.323          3.310          0              0              0
  27  TowelHolder        0.716          1.361          0.583          0              270            0
  28  TowelHolder        -0.442         1.361          1.175          0              0              0
  29  LightSwitch        -1.749         1.429          3.325          0              90             0
  30  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  31  GarbageCan         0.412          -0.029         3.728          0              0              0
  32  SinkBasin          0.440          0.667          2.746          0              270            0
  33  HandTowelHolder    0.673          1.613          1.891          0              180            0
  34  HandTowelHolder    0.673          1.613          3.563          0              180            0
  35  Toilet             0.270          0.000          1.463          0              0              0
  36  ShowerHead         -1.705         1.894          0.587          0              270            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: walk toward the sink to face the right edge of the sink | STEP 2: pick up the dirty white tissue from the counter to the right of the sink | STEP 3: put the tissue into the sink basin | STEP 4: wash the tissue in the sink basin, pick it up | STEP 5: turn slightly to the right of the sink | STEP 6: put the tissue on the counter to the right of the sink | END