Task: Clean a cloth and place it on the sink.

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           0.901          1.5            0              90             0
   1  SoapBar            0.389          0.819          2.380          0              0              0              23
   2  SoapBar            0.446          0.512          3.271          0              0              0              15
   3  HandTowel          0.634          1.512          1.892          0              90             0              33
   4  SoapBottle         0.563          1.052          1.664          0              270            0              35
   5  HandTowel          0.634          1.512          3.564          0              90             0              34
   6  Towel              -0.442         1.375          1.282          0              0              0              28
   7  SoapBar            0.334          0.511          3.392          0              0              0              15
   8  ToiletPaper        0.624          1.041          1.336          0              270            0              35
   9  ToiletPaper        0.308          0.615          1.912          0              180            90             30
  10  Candle             0.655          1.046          1.467          0              270            0              35
  11  ScrubBrush         0.553          0.000          1.725          0              0              0
  12  Cloth              0.588          0.824          2.161          0              0              0              23
  13  Plunger            0.594          -0.000         1.898          0              0              0
  14  SprayBottle        0.563          1.046          1.533          0              270            0              35
  15  Drawer             0.443          0.624          3.310          0              0              0
  16  Drawer             0.443          0.323          2.194          0              0              0
  17  ShowerDoor         -0.923         1.032          1.155          0              0              0
  18  Sink               0.495          0.661          2.756          0              270            0
  19  Drawer             0.443          0.624          2.193          0              0              0
  20  Faucet             0.717          0.982          2.756          0              0              0
  21  Mirror             0.629          1.532          2.697          0              0              0
  22  ShowerGlass        -0.152         1.266          1.156          0              0              0
  23  CounterTop         0.458          0.789          2.759          0              0              0
  24  Drawer             0.443          0.323          2.566          0              0              0
  25  Drawer             0.443          0.323          2.937          0              0              0
  26  Drawer             0.443          0.323          3.310          0              0              0
  27  TowelHolder        0.716          1.361          0.583          0              270            0
  28  TowelHolder        -0.442         1.361          1.175          0              0              0
  29  LightSwitch        -1.749         1.429          3.325          0              90             0
  30  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  31  GarbageCan         0.412          -0.029         3.728          0              0              0
  32  SinkBasin          0.440          0.667          2.746          0              270            0
  33  HandTowelHolder    0.673          1.613          1.891          0              180            0
  34  HandTowelHolder    0.673          1.613          3.563          0              180            0
  35  Toilet             0.270          0.000          1.463          0              0              0
  36  ShowerHead         -1.705         1.894          0.587          0              270            0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the left and then right to find the sink. | STEP 2: Pick up the dirty cloth from the right side of the sink. | STEP 3: Hold the cloth and take a step to the left.  | STEP 4: Place the cloth in the sink and turn on the water. Turn off the water and pick up the cloth. | STEP 5: Take the cloth and look to the left, but don't take any steps. | STEP 6: Place the cloth on the right side of the counter. | END