Task: Pick up the cloth in sink and put it in the tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.900          2.75           0              90             0
   1  Cloth              -3.028         0.542          1.832          0              0              0              27
   2  Cloth              -3.028         0.274          1.832          0              0              0              25
   3  SoapBar            -1.211         0.537          1.780          0              0              0              21
   4  Candle             -1.048         1.053          4.263          0              270            0              40
   5  Candle             -1.495         0.546          1.832          0              0              0              21
   6  SprayBottle        -2.372         0.827          2.074          0              0              0              20
   7  HandTowel          -3.726         1.646          1.330          0              180            0              38
   8  ToiletPaper        -1.022         0.534          1.935          0              0              0              21
   9  Candle             -2.743         0.546          1.780          0              0              0              25
  10  HandTowel          -0.923         1.59           2.018          0              90             0              37
  11  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  12  SoapBar            -0.967         0.826          1.862          0              0              0              20
  13  ToiletPaper        -1.495         0.534          1.987          0              0              0              21
  14  Cloth              -2.952         0.887          1.744          0              0              0              46
  15  ToiletPaper        -1.048         1.041          4.394          0              270            0              40
  16  Towel              -4.739         1.522          3.359          0              90             0              32
  17  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  18  SoapBottle         -2.192         0.828          2.074          0              0              0              20
  19  SprayBottle        -1.017         1.045          4.460          0              270            0              40
  20  CounterTop         -2.177         0.782          1.889          0              0              0
  21  Drawer             -1.307         0.606          1.890          0              0              0
  22  Drawer             -1.307         0.337          1.890          0              0              0
  23  Faucet             -4.646         0.448          1.689          0              0              0
  24  ShowerDoor         -4.873         1.235          3.947          0              0              0
  25  Drawer             -3.029         0.337          1.890          0              0              0
  26  Drawer             -2.169         0.606          1.890          0              0              0
  27  Drawer             -3.029         0.606          1.890          0              0              0
  28  Bathtub            -4.080         0.297          2.480          0              345.000        0
  29  Drawer             -2.169         0.337          1.890          0              0              0
  30  Mirror             -2.177         1.856          1.390          0              0              0
  31  Sink               -1.421         0.837          1.776          0              0              0
  32  TowelHolder        -4.846         1.508          3.358          0              90             0
  33  TowelHolder        -4.846         1.508          2.424          0              90             0
  34  LightSwitch        -2.165         1.450          4.972          0              180            0
  35  BathtubBasin       -4.309         0.192          2.328          0              270            0
  36  SinkBasin          -1.442         0.874          1.785          0              0              0
  37  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  38  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  39  GarbageCan         -1.116         -0.037         3.598          0              270            0
  40  Toilet             -1.340         -0.000         4.456          0              0              0
  41  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  42  Faucet             -1.421         0.954          1.507          0              0              0
  43  ShowerHead         -5.257         1.733          4.030          0              90             0
  44  Faucet             -2.944         0.954          1.507          0              0              0
  45  Sink               -2.943         0.837          1.776          0              0              0
  46  SinkBasin          -2.964         0.874          1.785          0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around, move toward the tub, turn left as you are close to the tub, and face the sink with a yellow cloth | STEP 2: Pick the cloth up from the sink | STEP 3: Turn around and turn back to stand in front of the tub | STEP 4: Place the cloth in the tub | END