Task: Put a rinsed cloth on the shelf under the counter

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          -0.75          0              90             0
   1  Cloth              -0.116         1.166          -3.202         0              90             0              39
   2  Cloth              -2.649         0.085          -0.822         0              90             0              31
   3  Candle             -2.547         0.991          -2.923         0              0              0              25
   4  Candle             -0.114         0.352          -3.471         0              90             0              36
   5  SprayBottle        -2.694         0.993          -2.391         0              0              0              25
   6  SprayBottle        -0.087         1.045          -0.478         0              270            0              34
   7  ToiletPaper        -0.103         0.866          -1.033         0              270            270            32
   8  HandTowel          -0.038         1.481          -2.661         0              90             0              28
   9  SoapBar            -0.162         0.878          -3.181         0              90             0              38
  10  ToiletPaper        -2.576         0.354          -2.505         0              0              0              23
  11  ToiletPaper        -2.694         0.989          -2.923         0              0              0              25
  12  Towel              -1.338         1.193          -0.106         0              180            0              26
  13  SoapBottle         -2.608         0.359          -2.923         0              0              0              23
  14  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  15  Cloth              -2.841         0.997          -3.454         0              0              0              25
  16  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  17  Candle             -0.162         0.352          -3.543         0              90             0              36
  18  SprayBottle        -2.915         0.993          -2.923         0              0              0              25
  19  Bathtub            -2.104         0.524          -0.828         0              0              0
  20  Faucet             -0.040         1.017          -2.076         0              270            0
  21  Sink               -0.307         0.0            -2.076         0              270            0
  22  Mirror             -2.983         1.565          -2.900         0              0              0
  23  Shelf              -2.581         0.395          -2.923         0              0              0
  24  Shelf              -2.539         0.130          -2.923         0              0              0
  25  CounterTop         -2.704         1.029          -2.923         0              0              0
  26  TowelHolder        -1.338         1.179          0.0            0              180            0
  27  LightSwitch        -0.363         1.330          -3.999         0              0              0
  28  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  29  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  30  SinkBasin          -0.310         0.859          -2.076         0              0              0
  31  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  32  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  33  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  34  Toilet             -0.411         -0.000         -0.547         0              0              0
  35  Drawer             -0.229         0.161          -3.398         0              270            0
  36  Drawer             -0.229         0.420          -3.398         0              270            0
  37  Drawer             -0.229         0.680          -3.398         0              270            0
  38  Drawer             -0.229         0.940          -3.398         0              270            0
  39  Dresser            -0.205         0.000          -3.398         0              270            0
  40  ShowerHead         -2.579         1.261          -0.064         0              270            0
  41  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  42  EastWall
  43  EastWall
  44  SouthWall

Plan:
STEP 1: Turn right and go to the wall then turn right and face the counter | STEP 2: Pick up the rag from the counter | STEP 3: Turn right and go to the end of the counter then turn right then left to go around the wall then go to the right to the sink and turn to face the side of the sink | STEP 4: Put the cloth in the sink and turn on the water, then turn off the water and pick up the cloth from the sink | STEP 5: Turn right and go towards the bath tub then turn left and go towards the door 
then turn right and go back to the counter | STEP 6: Put the cloth on the shelf under the counter | END