Task: Clean the dirty cloth put back on 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              -1.5           0.903          4.0            0              180            0
   1  Cloth              -0.680         0.164          0.375          0              0              0              28
   2  SoapBar            0.232          0.097          3.558          0              0              0              18
   3  SoapBar            0.313          1.051          2.857          0              270            0              20
   4  SoapBottle         0.377          0.101          3.655          0              0              0              18
   5  Towel              -2.393         1.478          0.580          0              90             0              25
   6  Candle             0.449          0.106          3.167          0              0              0              18
   7  Cloth              -1.569         0.164          0.556          0              0              0              28
   8  HandTowel          0.397          1.656          2.039          0              180            0              29
   9  Plunger            0.480          0.002          4.793          0              0              0
  10  SoapBar            0.452          0.097          2.545          0              0              0              24
  11  ToiletPaper        0.594          0.094          3.167          0              0              0              18
  12  ToiletPaper        -0.047         0.971          4.911          0              180            90             26
  13  SoapBottle         0.232          0.101          3.070          0              0              0              18
  14  SprayBottle        -0.122         0.153          1.383          0              90             0              30
  15  ScrubBrush         0.688          0.002          4.867          0              0              0
  16  Sink               0.426          1.037          2.947          0              270            0
  17  Window             -2.548         1.673          2.405          0              0              0
  18  Cabinet            0.068          0.366          3.772          0              0              0
  19  Bathtub            -1.042         0.155          0.558          0              0              0
  20  SinkBasin          0.404          0.926          2.926          0              270            0
  21  Mirror             0.858          1.863          2.972          0              0              0
  22  CounterTop         0.487          1.015          3.090          0              0              0
  23  Faucet             -0.207         0.687          0.546          0              0              0
  24  Cabinet            0.074          0.379          2.045          0              0              0
  25  TowelHolder        -2.5           1.463          0.579          0              90             0
  26  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  27  LightSwitch        -1.121         1.333          5.000          0              180            0
  28  BathtubBasin       -1.062         0.153          0.556          0              0              0
  29  HandTowelHolder    0.398          1.758          2.000          0              270            0
  30  GarbageCan         -0.229         0.001          1.445          0              270            0
  31  Toilet             0.376          0.002          4.470          0              0              0
  32  Faucet             0.661          1.043          3.371          0              270            0
  33  Faucet             0.661          1.043          2.520          0              270            0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Walk towards the tub | STEP 2: Pick up the dirty cloth on the left side of the tub | STEP 3: Turn to your left and head to the sink  | STEP 4: Rinse the cloth on the sink with water | STEP 5: Turn right and head to the tub | STEP 6: Put the clean cloth on the left side of the tub | END