Task: Put the clean cloth on top of 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              -1.0           0.900          -1.75          0              270            0
   1  SprayBottle        -2.694         0.993          -2.125         0              90             0              23
   2  SprayBottle        -0.118         1.045          -0.478         0              270            0              32
   3  SoapBottle         -2.841         0.994          -2.125         0              0              0              23
   4  HandTowel          -0.038         1.481          -1.549         0              90             0              27
   5  ToiletPaper        -2.547         0.989          -3.720         0              0              0              23
   6  HandTowel          -0.038         1.481          -2.661         0              90             0              26
   7  SoapBar            -0.221         0.043          -2.849         0              90             0              31
   8  ToiletPaper        -0.103         0.866          -1.033         0              270            270            30
   9  ToiletPaper        -0.162         0.350          -3.399         0              90             0              34
  10  Towel              -1.338         1.193          -0.106         0              180            0              24
  11  SoapBottle         -0.180         1.162          -3.300         0              90             0              37
  12  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  13  Cloth              -2.524         0.085          -0.535         0              90             0              29
  14  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  15  Candle             -2.620         0.991          -2.923         0              0              0              23
  16  SprayBottle        -2.620         0.993          -2.125         0              0              0              23
  17  Bathtub            -2.104         0.524          -0.828         0              0              0
  18  Faucet             -0.040         1.017          -2.076         0              270            0
  19  Sink               -0.307         0.0            -2.076         0              270            0
  20  Mirror             -2.983         1.565          -2.900         0              0              0
  21  Shelf              -2.581         0.395          -2.923         0              0              0
  22  Shelf              -2.539         0.130          -2.923         0              0              0
  23  CounterTop         -2.704         1.029          -2.923         0              0              0
  24  TowelHolder        -1.338         1.179          0.0            0              180            0
  25  LightSwitch        -0.363         1.330          -3.999         0              0              0
  26  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  27  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  28  SinkBasin          -0.310         0.859          -2.076         0              0              0
  29  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  30  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  31  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  32  Toilet             -0.411         -0.000         -0.547         0              0              0
  33  Drawer             -0.229         0.161          -3.398         0              270            0
  34  Drawer             -0.229         0.420          -3.398         0              270            0
  35  Drawer             -0.229         0.680          -3.398         0              270            0
  36  Drawer             -0.229         0.940          -3.398         0              270            0
  37  Dresser            -0.205         0.000          -3.398         0              270            0
  38  ShowerHead         -2.579         1.261          -0.064         0              270            0
  39  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: Turn right then left to face the bathtub. | STEP 2: Grab the dirty cloth from the bathtub. | STEP 3: Turn around then turn right to face the sink. | STEP 4: Place the cloth into the sink, rinse it off and retrieve it. | STEP 5: Turn right, then turn left to the door, then turn left again. | STEP 6: Place the rag on top of the drawer. | END