Task: Clean a rag and put it back on the counter.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.900          3.5            0              90             0
   1  SoapBar            -3.217         0.537          1.883          0              0              0              23
   2  SoapBar            -0.956         1.044          4.263          0              270            0              36
   3  Candle             -0.987         1.053          4.394          0              270            0              36
   4  Candle             -2.530         0.835          2.132          0              0              0              16
   5  Candle             -2.855         0.835          2.132          0              0              0              16
   6  HandTowel          -3.726         1.646          1.330          0              180            0              34
   7  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
   8  SoapBar            -3.031         0.882          1.744          0              0              0              42
   9  ToiletPaper        -0.968         0.888          3.960          0              270            270            37
  10  Cloth              -2.372         0.831          2.074          0              0              0              16
  11  ToiletPaper        -1.979         0.809          1.695          0              0              0              16
  12  Towel              -4.739         1.522          3.359          0              90             0              28
  13  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  14  SoapBottle         -2.282         0.828          1.756          0              0              0              16
  15  SprayBottle        -1.109         1.045          4.329          0              270            0              36
  16  CounterTop         -2.177         0.782          1.889          0              0              0
  17  Drawer             -1.307         0.606          1.890          0              0              0
  18  Drawer             -1.307         0.337          1.890          0              0              0
  19  Faucet             -4.646         0.448          1.689          0              0              0
  20  ShowerDoor         -4.873         1.235          3.947          0              0              0
  21  Drawer             -3.029         0.337          1.890          0              0              0
  22  Drawer             -2.169         0.606          1.890          0              0              0
  23  Drawer             -3.029         0.606          1.890          0              0              0
  24  Bathtub            -4.080         0.297          2.480          0              345.000        0
  25  Drawer             -2.169         0.337          1.890          0              0              0
  26  Mirror             -2.177         1.856          1.390          0              0              0
  27  Sink               -1.421         0.837          1.776          0              0              0
  28  TowelHolder        -4.846         1.508          3.358          0              90             0
  29  TowelHolder        -4.846         1.508          2.424          0              90             0
  30  LightSwitch        -2.165         1.450          4.972          0              180            0
  31  BathtubBasin       -4.309         0.192          2.328          0              270            0
  32  SinkBasin          -1.442         0.874          1.785          0              0              0
  33  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  34  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  35  GarbageCan         -1.116         -0.037         3.598          0              270            0
  36  Toilet             -1.340         -0.000         4.456          0              0              0
  37  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  38  Faucet             -1.421         0.954          1.507          0              0              0
  39  ShowerHead         -5.257         1.733          4.030          0              90             0
  40  Faucet             -2.944         0.954          1.507          0              0              0
  41  Sink               -2.943         0.837          1.776          0              0              0
  42  SinkBasin          -2.964         0.874          1.785          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn right and walk over to the counter. | STEP 2: Pick up the yellow rag off of the counter. | STEP 3: Turn left and walk forward, the turn right to face the sink. | STEP 4: Put the yellow rag in the sink and turn on the water, after a couple seconds turn the water off and remove the rag. | STEP 5: Turn right and walk forward, then turn left to face the counter. | STEP 6: Put the clean rag on the counter in between the two sinks. | END