Task: Put the red rag under the sink into the sink basin.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          -0.5           0              0              0
   1  Candle             -2.742         0.996          -2.218         0              0              0              18
   2  SoapBar            -2.557         0.995          -1.249         0              0              0              18
   3  SoapBottle         -2.617         0.081          -1.597         0              0              0              23
   4  Towel              -1.051         1.535          -2.887         0              90             0              24
   5  HandTowel          -2.591         1.635          -0.047         0              0              0              26
   6  SoapBar            -2.719         0.079          -2.032         0              0              0              17
   7  ToiletPaper        -0.548         1.042          -3.887         0              0              0              31
   8  ToiletPaper        -0.084         0.902          -3.286         0              270            90             31
   9  SoapBottle         -1.489         0.059          -0.186         0              180            0              21
  10  Candle             -2.613         0.996          -0.292         0              0              0              18
  11  ScrubBrush         -1.048         0.000          -3.830         0              0              0              27
  12  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  13  Cloth              -2.669         0.079          -1.008         0              0              0              19
  14  SprayBottle        -2.821         0.080          -1.116         0              90             0              19
  15  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  16  Mirror             -2.947         1.559          -1.194         0              0              0
  17  Cabinet            -2.504         0.400          -2.208         0              0              0
  18  CounterTop         -2.744         0.986          -1.243         0              0              0
  19  Cabinet            -2.504         0.400          -1.238         0              0              0
  20  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  21  Cabinet            -2.508         0.426          -0.290         0              0              0
  22  Sink               -2.907         0.986          -1.761         0              90             0
  23  Cabinet            -2.508         0.426          -1.260         0              0              0
  24  TowelHolder        -1.158         1.521          -2.887         0              90             0
  25  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  26  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  27  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  28  Window             -0.566         1.730          -4.102         90             0              0
  29  LightSwitch        -1.332         1.391          0.001          0              180            0
  30  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  31  Toilet             -0.319         0.000          -3.533         0              90             0
  32  Faucet             -2.907         0.993          -1.761         0              90             0
  33  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  34  Sink               -2.907         0.986          -0.732         0              90             0
  35  Faucet             -2.907         0.993          -0.731         0              90             0
  36  ShowerHead         -2.868         1.219          -3.223         0              180            0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: Turn around and cross the room to the sink on the right. | STEP 2: Open the second cabinet from the right under the sink and get the red rag. | STEP 3: Walk to the front of the sink on the right. | STEP 4: Put the red rag in the right sink basin. | END