Task: Soak a cloth and put it away

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          2.25           0              270            0
   1  Cloth              -1.458         0.736          2.877          0              0              0              19
   2  SoapBar            -1.529         0.238          1.865          0              0              0              21
   3  SoapBar            -1.899         1.045          0.682          0              90             0              33
   4  Candle             -1.629         0.772          2.877          0              0              0              19
   5  Candle             -1.715         0.772          2.827          0              0              0              19
   6  SoapBottle         -1.735         0.045          1.374          0              180            0              30
   7  Candle             -1.887         0.772          2.927          0              0              0              19
   8  HandTowel          -1.513         1.461          3.962          0              0              0              25
   9  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  10  Towel              0.871          1.172          2.356          0              0              0              24
  11  SoapBottle         -1.873         1.046          0.813          0              90             0              33
  12  SoapBar            -1.647         0.641          3.361          0              270            0              35
  13  ToiletPaper        -1.553         0.624          0.053          0              0              270            29
  14  Cloth              -1.529         0.244          3.596          0              0              0              18
  15  ToiletPaper        -1.874         0.722          1.860          0              0              0              21
  16  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  17  SprayBottle        -1.899         1.047          0.616          0              90             0              33
  18  Drawer             -1.335         0.301          3.329          0              0              0
  19  CounterTop         -1.608         0.701          2.831          0              0              0
  20  ShowerDoor         0.564          1.018          1.115          0              0              0
  21  Drawer             -1.335         0.301          2.132          0              0              0
  22  Mirror             -1.924         1.414          2.759          0              0              0
  23  Sink               -1.695         0.616          2.283          0              90             0
  24  TowelHolder        0.870          1.157          2.25           0              0              0
  25  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  26  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  27  Window             -1.037         1.399          0.019          90             0              0
  28  Window             -1.986         1.396          0.707          90             90             0
  29  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  30  GarbageCan         -1.739         -0.031         1.268          0              90             0
  31  LightSwitch        1.25           1.273          3.634          0              270            0
  32  SinkBasin          -1.674         0.633          2.274          0              270            0
  33  Toilet             -1.547         0.000          0.685          0              180            0
  34  Sink               -1.695         0.616          3.365          0              90             0
  35  SinkBasin          -1.674         0.633          3.355          0              270            0
  36  ShowerHead         0.853          1.797          1.108          0              180            0
  37  Faucet             -1.926         0.721          2.285          0              90             0
  38  Faucet             -1.926         0.721          3.368          0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move to your right and then turn left to face the sinks | STEP 2: Pick up the wash cloth from off of the counter | STEP 3: Put the cloth in the right sink and soak it in water, then pick it back up | STEP 4: Turn around so that you can essentially take a step back | STEP 5: Open the drawer and put the cloth in to it | END