Task: rinse the rag in the sink and put it in the cabinet

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          0.901          2.0            0              0              0
   1  SprayBottle        -0.280         0.077          2.743          0              0              0              20
   2  SoapBar            -0.432         0.076          3.372          0              0              0              24
   3  SoapBar            -0.051         0.953          1.481          0              0              0              31
   4  SoapBottle         -0.104         0.954          1.294          0              0              0              31
   5  HandTowel          -0.038         1.619          1.887          0              90             0              29
   6  HandTowel          -0.038         1.619          3.799          0              90             0              30
   7  Towel              -1.082         1.326          1.302          0              0              0              26
   8  SoapBar            -0.258         0.826          2.466          0              0              0              37
   9  ToiletPaper        -0.179         0.073          3.462          0              0              0              24
  10  Plunger            -0.112         -0.000         1.848          0              0              0
  11  Candle             -0.131         0.953          1.419          0              0              0              31
  12  ToiletPaper        -0.229         0.072          2.966          0              0              0              19
  13  SprayBottle        -0.178         0.076          2.291          0              0              0              25
  14  Cloth              -0.351         0.946          2.074          0              0              0              37
  15  ScrubBrush         -0.322         3.109          1.950          0              0              0
  16  SoapBottle         -0.381         0.076          3.011          0              0              0              19
  17  Mirror             -0.030         1.544          2.864          0              0              0
  18  Sink               -0.302         0.799          3.263          0              270            0
  19  Cabinet            -0.491         0.404          2.863          0              0              0
  20  Cabinet            -0.495         0.384          2.842          0              0              0
  21  ShowerDoor         -1.647         1.017          1.180          0              0              0
  22  ShowerGlass        -0.909         0.788          0.485          0              0              0
  23  CounterTop         -0.261         0.927          2.843          0              0              0
  24  Cabinet            -0.495         0.384          3.650          0              0              0
  25  Cabinet            -0.491         0.404          2.055          0              0              0
  26  TowelHolder        -1.082         1.312          1.195          0              0              0
  27  LightSwitch        -2.424         1.447          3.338          0              90             0
  28  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  29  HandTowelHolder    0.000          1.721          1.887          0              180            0
  30  HandTowelHolder    0.000          1.721          3.799          0              180            0
  31  Toilet             -0.542         3.109          1.493          0              270            0
  32  GarbageCan         -2.159         -0.000         3.756          0              0              0
  33  SinkBasin          -0.308         0.820          3.266          0              0              0
  34  ShowerHead         -0.134         1.888          0.564          0              90             0
  35  Faucet             0.0            1.009          3.265          0              0              0
  36  Faucet             0.0            1.009          2.421          0              0              0
  37  SinkBasin          -0.308         0.820          2.422          0              0              0
  38  Sink               -0.302         0.799          2.419          0              270            0
  39  NorthWall
  40  SouthWall
  41  SouthWall

Plan:
STEP 1: walk over to the toilet | STEP 2: pick up the rag from the counter | STEP 3: go the sink on the right | STEP 4: wash the rag in the sink and remove | STEP 5: walk to the center of the room and face the toilet | STEP 6: put the washcloth in the cabinet below the sink | END