Task: Put a cleaned rag in a drawer under the right sink.

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          2.75           0              90             0
   1  Cloth              -1.922         0.831          1.756          0              270            0              19
   2  Cloth              -3.122         0.542          1.935          0              0              0              26
   3  Cloth              -2.168         0.542          1.883          0              0              0              25
   4  Candle             -0.987         1.053          4.591          0              270            0              39
   5  SoapBottle         -0.987         1.046          4.394          0              270            0              39
   6  HandTowel          -3.726         1.646          1.330          0              180            0              37
   7  ToiletPaper        -0.968         0.888          3.960          0              270            270            40
   8  Candle             -2.743         0.278          1.935          0              0              0              24
   9  HandTowel          -0.923         1.59           2.018          0              90             0              36
  10  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  11  SoapBar            -3.110         0.882          1.869          0              0              0              45
  12  ToiletPaper        -1.086         0.117          3.703          0              90             0              38
  13  Cloth              -3.217         0.274          1.935          0              0              0              24
  14  ToiletPaper        -2.462         0.823          2.074          0              0              0              19
  15  Towel              -4.739         1.522          2.425          0              90             0              32
  16  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  17  SoapBottle         -1.048         1.046          4.657          0              270            0              39
  18  SprayBottle        -1.048         1.045          4.263          0              270            0              39
  19  CounterTop         -2.177         0.782          1.889          0              0              0
  20  Drawer             -1.307         0.606          1.890          0              0              0
  21  Drawer             -1.307         0.337          1.890          0              0              0
  22  Faucet             -4.646         0.448          1.689          0              0              0
  23  ShowerDoor         -4.873         1.235          3.947          0              0              0
  24  Drawer             -3.029         0.337          1.890          0              0              0
  25  Drawer             -2.169         0.606          1.890          0              0              0
  26  Drawer             -3.029         0.606          1.890          0              0              0
  27  Bathtub            -4.080         0.297          2.480          0              345.000        0
  28  Drawer             -2.169         0.337          1.890          0              0              0
  29  Mirror             -2.177         1.856          1.390          0              0              0
  30  Sink               -1.421         0.837          1.776          0              0              0
  31  TowelHolder        -4.846         1.508          3.358          0              90             0
  32  TowelHolder        -4.846         1.508          2.424          0              90             0
  33  LightSwitch        -2.165         1.450          4.972          0              180            0
  34  BathtubBasin       -4.309         0.192          2.328          0              270            0
  35  SinkBasin          -1.442         0.874          1.785          0              0              0
  36  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  37  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  38  GarbageCan         -1.116         -0.037         3.598          0              270            0
  39  Toilet             -1.340         -0.000         4.456          0              0              0
  40  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  41  Faucet             -1.421         0.954          1.507          0              0              0
  42  ShowerHead         -5.257         1.733          4.030          0              90             0
  43  Faucet             -2.944         0.954          1.507          0              0              0
  44  Sink               -2.943         0.837          1.776          0              0              0
  45  SinkBasin          -2.964         0.874          1.785          0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Move to the counter on your right. | STEP 2: Pick up the rag on the counter.  | STEP 3: Bring the rag to the sink on your right. | STEP 4: Wash the rag in the right sink.  | STEP 5: Bring the cleaned rag to the top drawer under the right sink.  | STEP 6: Put the cleaned rag in the top right drawer, close the drawer.  | END