Task: Put the clean cloth on the right side of sink counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          2.0            0              270            0
   1  Cloth              0.389          0.824          2.325          0              0              0              24
   2  SoapBar            0.502          0.211          2.236          0              0              0              17
   3  SprayBottle        0.594          1.046          1.533          0              270            0              36
   4  Towel              0.609          1.376          0.583          0              270            0              28
   5  SoapBottle         0.624          1.052          1.336          0              270            0              36
   6  HandTowel          0.634          1.512          3.564          0              90             0              35
   7  Towel              -0.442         1.375          1.282          0              0              0              29
   8  SoapBar            0.356          0.676          2.804          0              270            0              33
   9  ToiletPaper        0.334          0.207          2.648          0              0              0              25
  10  ToiletPaper        0.308          0.615          1.912          0              180            90             31
  11  Candle             0.685          1.046          1.533          0              270            0              36
  12  ScrubBrush         0.553          0.000          1.725          0              0              0
  13  Cloth              0.502          0.215          3.352          0              0              0              27
  14  Plunger            0.594          -0.000         1.898          0              0              0
  15  SprayBottle        0.502          1.046          1.598          0              270            0              36
  16  Drawer             0.443          0.624          3.310          0              0              0
  17  Drawer             0.443          0.323          2.194          0              0              0
  18  ShowerDoor         -0.923         1.032          1.155          0              0              0
  19  Sink               0.495          0.661          2.756          0              270            0
  20  Drawer             0.443          0.624          2.193          0              0              0
  21  Faucet             0.717          0.982          2.756          0              0              0
  22  Mirror             0.629          1.532          2.697          0              0              0
  23  ShowerGlass        -0.152         1.266          1.156          0              0              0
  24  CounterTop         0.458          0.789          2.759          0              0              0
  25  Drawer             0.443          0.323          2.566          0              0              0
  26  Drawer             0.443          0.323          2.937          0              0              0
  27  Drawer             0.443          0.323          3.310          0              0              0
  28  TowelHolder        0.716          1.361          0.583          0              270            0
  29  TowelHolder        -0.442         1.361          1.175          0              0              0
  30  LightSwitch        -1.749         1.429          3.325          0              90             0
  31  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  32  GarbageCan         0.412          -0.029         3.728          0              0              0
  33  SinkBasin          0.440          0.667          2.746          0              270            0
  34  HandTowelHolder    0.673          1.613          1.891          0              180            0
  35  HandTowelHolder    0.673          1.613          3.563          0              180            0
  36  Toilet             0.270          0.000          1.463          0              0              0
  37  ShowerHead         -1.705         1.894          0.587          0              270            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn to your right and face the right side of the sink counter  | STEP 2: Pick up the dirty cloth on the sink counter | STEP 3: Turn left and make a step facing the sink on your right | STEP 4: Put the dirty cloth in the sink and rinse it | STEP 5: Pick up the clean cloth make a step closer the sink | STEP 6: Put the clean cloth the right side of the sink counter | END