Task: Get dirty cloth out of cupboard, clean it off, put on counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.902          -1.25          0              0              0
   1  Cloth              -1.732         0.081          0.760          0              0              0              23
   2  Cloth              -2.992         0.081          0.567          0              90             0              19
   3  Cloth              -2.183         0.081          0.696          0              90             0              24
   4  Candle             -2.294         1.002          0.938          0              0              0              20
   5  Candle             -0.860         1.087          0.875          0              180            0              36
   6  SprayBottle        -2.856         0.184          -1.584         0              0              0              31
   7  SoapBottle         -2.004         0.083          0.696          0              0              0              24
   8  Towel              -0.490         1.367          0.902          0              180            0              30
   9  Candle             -1.553         0.122          0.825          0              0              0              23
  10  HandTowel          -3.096         1.587          0.744          0              270            0              34
  11  SoapBar            -1.508         0.961          0.771          0              0              0              20
  12  ToiletPaper        -0.173         0.514          -0.333         0              0              0              22
  13  Cloth              0.419          0.034          0.561          0              270            0              32
  14  ToiletPaper        -0.991         1.042          0.845          0              180            0              36
  15  SprayBottle        -1.777         0.082          0.502          0              0              0              23
  16  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  17  SoapBottle         -2.957         0.184          -1.56          0              0              0              31
  18  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  19  Cabinet            -3.094         0.390          0.421          0              0              0
  20  CounterTop         -2.298         0.953          0.689          0              0              0
  21  Cabinet            -2.305         0.415          0.425          0              0              0
  22  Bathtub            0.286          0.290          -0.077         0              0              0
  23  Cabinet            -1.496         0.415          0.425          0              0              0
  24  Cabinet            -2.286         0.390          0.421          0              0              0
  25  Sink               -1.924         0.930          0.675          0              180            0
  26  Faucet             -1.922         1.015          0.887          0              0              0
  27  Mirror             -2.306         1.526          1.001          0              0              0
  28  Faucet             -2.681         1.015          0.887          0              0              0
  29  LightSwitch        -1.389         1.263          -1.693         0              0              0
  30  TowelHolder        -0.490         1.353          1.009          0              180            0
  31  GarbageCan         -2.857         0.016          -1.487         0              0              0
  32  BathtubBasin       0.349          0.023          -0.135         0              270            0
  33  SinkBasin          -1.908         0.961          0.669          0              180            0
  34  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  35  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  36  Toilet             -1.054         0.001          0.552          0              270            0
  37  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  38  Faucet             0.270          0.670          0.906          0              0              0
  39  SinkBasin          -2.666         0.961          0.669          0              180            0
  40  Sink               -2.681         0.930          0.675          0              180            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn left, walk towards wall, turn right, walk forward to sink | STEP 2: Open cupboard below sink, pick up dirty cloth, close cupboard | STEP 3: Turn right, walk forward, turn left at sink | STEP 4: Put dirty cloth in sink, turn on water, turn off water, | STEP 5: Pick up cloth, turn left walk to wall, turn right | STEP 6: Put cloth on top of counter in between sinks | END