Task: put a clean cloth in to the bath tub

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           0.903          3.25           0              270            0
   1  SprayBottle        0.205          1.055          3.915          0              0              0              20
   2  ToiletPaper        -0.145         0.148          1.382          0              90             0              28
   3  Towel              -2.393         1.478          0.580          0              90             0              23
   4  Candle             -0.144         0.713          0.863          0              0              0              17
   5  Cloth              -1.214         0.164          0.556          0              0              0              26
   6  HandTowel          0.397          1.656          2.039          0              180            0              27
   7  Plunger            0.480          0.002          4.793          0              0              0
   8  SoapBar            -0.680         0.164          0.375          0              0              0              26
   9  ToiletPaper        -0.047         0.971          4.911          0              180            90             24
  10  ToiletPaper        0.760          1.044          4.277          0              270            0              29
  11  SoapBottle         0.392          1.058          3.713          0              0              0              20
  12  SprayBottle        0.699          1.048          4.473          0              270            0              29
  13  ScrubBrush         0.688          0.002          4.867          0              0              0
  14  Sink               0.426          1.037          2.947          0              270            0
  15  Window             -2.548         1.673          2.405          0              0              0
  16  Cabinet            0.068          0.366          3.772          0              0              0
  17  Bathtub            -1.042         0.155          0.558          0              0              0
  18  SinkBasin          0.404          0.926          2.926          0              270            0
  19  Mirror             0.858          1.863          2.972          0              0              0
  20  CounterTop         0.487          1.015          3.090          0              0              0
  21  Faucet             -0.207         0.687          0.546          0              0              0
  22  Cabinet            0.074          0.379          2.045          0              0              0
  23  TowelHolder        -2.5           1.463          0.579          0              90             0
  24  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  25  LightSwitch        -1.121         1.333          5.000          0              180            0
  26  BathtubBasin       -1.062         0.153          0.556          0              0              0
  27  HandTowelHolder    0.398          1.758          2.000          0              270            0
  28  GarbageCan         -0.229         0.001          1.445          0              270            0
  29  Toilet             0.376          0.002          4.470          0              0              0
  30  Faucet             0.661          1.043          3.371          0              270            0
  31  Faucet             0.661          1.043          2.520          0              270            0
  32  NorthWall
  33  EastWall
  34  SouthWall
  35  WestWall

Plan:
STEP 1: turn to the left and move forward towards the bath tub | STEP 2: take the dirty cloth out of the bath tub | STEP 3: turn around and move across the room and turn to the right and move toward the sinks | STEP 4: put the dirty cloth into the sink under the faucet on the left side of the sink, turn on the water to clean the cloth and remove the cloth from the sink | STEP 5: turn to the right and move to the bath tub | STEP 6: put the cloth back in to the bath tub | END