Task: To clean a rag and place it on the counter between the two sinks.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.902          -0.25          0              270            0
   1  Cloth              -2.858         0.081          0.760          0              0              0              17
   2  Candle             -2.093         0.122          0.631          0              0              0              22
   3  Candle             -2.004         0.122          0.889          0              0              0              22
   4  SoapBottle         -0.173         0.519          -0.844         0              0              0              20
   5  SoapBottle         -2.856         0.184          -1.584         0              0              0              29
   6  Towel              -0.490         1.367          0.902          0              180            0              28
   7  Candle             -2.286         1.002          0.643          0              0              0              18
   8  HandTowel          -3.096         1.587          0.744          0              270            0              32
   9  SoapBar            0.419          0.033          -0.324         0              270            0              30
  10  ToiletPaper        -0.173         0.513          0.434          0              0              0              20
  11  Cloth              0.211          0.034          0.118          0              270            0              30
  12  ToiletPaper        -1.416         0.816          0.665          0              90             270            33
  13  SprayBottle        -2.992         0.082          0.825          0              0              0              19
  14  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  15  SoapBottle         -2.183         0.083          0.825          0              0              0              22
  16  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  17  Cabinet            -3.094         0.390          0.421          0              0              0
  18  CounterTop         -2.298         0.953          0.689          0              0              0
  19  Cabinet            -2.305         0.415          0.425          0              0              0
  20  Bathtub            0.286          0.290          -0.077         0              0              0
  21  Cabinet            -1.496         0.415          0.425          0              0              0
  22  Cabinet            -2.286         0.390          0.421          0              0              0
  23  Sink               -1.924         0.930          0.675          0              180            0
  24  Faucet             -1.922         1.015          0.887          0              0              0
  25  Mirror             -2.306         1.526          1.001          0              0              0
  26  Faucet             -2.681         1.015          0.887          0              0              0
  27  LightSwitch        -1.389         1.263          -1.693         0              0              0
  28  TowelHolder        -0.490         1.353          1.009          0              180            0
  29  GarbageCan         -2.857         0.016          -1.487         0              0              0
  30  BathtubBasin       0.349          0.023          -0.135         0              270            0
  31  SinkBasin          -1.908         0.961          0.669          0              180            0
  32  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  33  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  34  Toilet             -1.054         0.001          0.552          0              270            0
  35  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  36  Faucet             0.270          0.670          0.906          0              0              0
  37  SinkBasin          -2.666         0.961          0.669          0              180            0
  38  Sink               -2.681         0.930          0.675          0              180            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn right and look down to face the cabinet under the sink. | STEP 2: Pick up the dirty rag in the cabinet under the sink. | STEP 3: Look up to face the sink at the left end of the counter. | STEP 4: Wash the rag in the sink and then remove it. | STEP 5: Step to the right to face the counter between the sinks. | STEP 6: Place the clean rag on the counter between the sinks. | END