Task: Clean the dirty cloth, put it on the tank

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.902          1.25           0              0              0
   1  Cloth              -1.083         0.181          0.48           0              0              0              37
   2  Cloth              -0.106         0.181          0.48           0              0              0              37
   3  Cloth              -2.524         1.046          1.691          0              90             0              41
   4  SoapBar            0.809          0.741          2.329          0              0              0              25
   5  Candle             -1.859         0.585          0.718          0              0              0              28
   6  SprayBottle        0.731          0.119          3.016          0              0              0              40
   7  SoapBottle         0.432          0.742          2.807          0              0              0              25
   8  SoapBottle         0.884          0.742          1.514          0              0              0              25
   9  HandTowel          1.033          1.671          3.127          0              90             0              38
  10  Towel              0.474          1.182          0.134          0              0              0              34
  11  SoapBar            -0.888         0.180          0.432          0              0              0              37
  12  ToiletPaper        -2.626         0.790          1.235          0              90             270            35
  13  SoapBottle         0.432          0.742          1.080          0              0              0              25
  14  ToiletPaper        -2.603         1.039          1.514          1.051          0              358.832        41
  15  ScrubBrush         -2.557         0.001          2.200          0              0              0
  16  Plunger            -2.568         0.000          1.992          0              0              0
  17  Cloth              -2.098         0.586          0.250          0              0              0              28
  18  Candle             0.884          0.740          2.489          0              0              0              25
  19  SprayBottle        0.734          0.743          2.409          0              0              0              25
  20  Window             -2.808         0.962          0.514          0              0              0
  21  Bathtub            -1.062         0.300          0.427          0              0              0
  22  Drawer             0.409          0.551          1.486          0              0              0
  23  Mirror             0.986          1.676          1.896          0              0              0
  24  ShowerDoor         -2.671         1.001          2.797          0              0              0
  25  CounterTop         0.732          0.697          1.955          0              0              0
  26  Drawer             0.409          0.314          2.420          0              0              0
  27  ShowerGlass        -1.713         1.276          3.298          0              0              0
  28  CounterTop         -0.298         0.157          0.531          0              0              0
  29  Sink               0.812          0.703          1.920          0              270            0
  30  Drawer             0.409          0.551          2.420          0              0              0
  31  Window             -0.957         1.563          -0.059         0              0              0
  32  Drawer             0.409          0.314          1.486          0              0              0
  33  TowelHolder        1.038          1.179          0.495          0              270            0
  34  TowelHolder        0.474          1.168          0.027          0              0              0
  35  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  36  SinkBasin          0.720          0.812          1.896          349.201        270            0
  37  BathtubBasin       -0.721         0.171          0.479          0              0              0
  38  HandTowelHolder    1.071          1.773          3.127          0              180            0
  39  LightSwitch        0.220          1.416          3.998          0              180            0
  40  GarbageCan         0.713          -0.028         3.110          0              0              0
  41  Toilet             -2.232         0.001          1.628          0              180            0
  42  ShowerHead         -2.619         1.819          3.361          0              270            0
  43  Faucet             1.047          1.036          1.921          0              0              0
  44  Faucet             0.318          0.631          0.479          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around to your right then face the tub | STEP 2: Pick up the dirty cloth close to the faucet | STEP 3: Turn around to your left move forward then turn right | STEP 4: Put the dirty cloth on the sink and rinse it | STEP 5: Turn around to your left walk towards the right side of the toilet tank then face left | STEP 6: Put the clean cloth on the tank beside the dirty cloth | END