Task: Wash a rag and put it in the drawer

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          1.25           0              0              0
   1  Cloth              -0.543         0.806          0.417          0              90             0              25
   2  TissueBox          -1.951         0.508          0.294          0              90             0              31
   3  Candle             -2.193         0.953          2.452          0              180            0              39
   4  Candle             -2.193         0.953          2.327          0              180            0              39
   5  SprayBottle        -1.329         0.805          0.221          0              90             0              25
   6  SoapBottle         -0.281         0.809          0.155          0              90             0              25
   7  Towel              -2.554         1.597          0.106          0              0              0              32
   8  Cloth              -3.383         0.219          1.124          0              0              0              41
   9  Candle             -1.591         0.807          0.221          0              90             0              25
  10  HandTowel          -0.038         1.68           2.956          0              90             0              36
  11  SoapBar            -3.071         0.691          0.776          0              0              0              26
  12  ToiletPaper        -2.250         0.946          2.670          0              0              0              39
  13  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  14  SprayBottle        -1.853         0.805          0.482          0              90             0              25
  15  TissueBox          -1.853         0.808          0.221          0              90             0              25
  16  ToiletPaper        -1.567         0.843          3.221          0              180            270            35
  17  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  18  SoapBottle         -1.067         0.809          0.155          0              90             0              25
  19  Drawer             -1.324         0.312          0.311          0              90             0
  20  Drawer             -0.290         0.312          0.311          0              90             0
  21  Sink               -0.463         -0.013         3.046          0              180            0
  22  Mirror             -0.504         1.741          3.304          0              0              0
  23  Drawer             -0.808         0.611          0.311          0              90             0
  24  Drawer             -0.808         0.312          0.311          0              90             0
  25  CounterTop         -1.850         0.001          0.342          0              90             0
  26  Bathtub            -3.499         0.148          0.939          0              0              0
  27  Drawer             -1.840         0.312          0.311          0              90             0
  28  Faucet             -0.463         0.969          3.212          0              180            0
  29  Drawer             -0.290         0.611          0.311          0              90             0
  30  Drawer             -1.324         0.611          0.311          0              90             0
  31  Drawer             -1.840         0.611          0.311          0              90             0
  32  TowelHolder        -2.553         1.582          0.0            0              0              0
  33  TowelHolder        -2.553         0.859          0.0            0              0              0
  34  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  35  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  36  HandTowelHolder    0.0            1.781          2.956          0              180            0
  37  LightSwitch        0.0            1.368          1.993          0              270            0
  38  Window             -4.083         1.735          1.162          90             270            0
  39  Toilet             -1.835         0.000          2.503          0              90             0
  40  SinkBasin          -0.452         0.888          2.969          0              180            0
  41  BathtubBasin       -3.518         0.210          0.939          0              0              0
  42  ShowerHead         -3.540         1.821          1.820          0              0              0
  43  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Walk over to the tub | STEP 2: Grab the rag. | STEP 3: Walk over to the sink | STEP 4: Wash the rag | STEP 5: Grab the rag and go to the counter | STEP 6: Place the rag in the drawer | END