Task: Put a rag in the sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.899          -0.5           0              270            0
   1  Cloth              -3.357         0.083          -1.634         0              0              0              20
   2  SprayBottle        -1.761         1.045          -2.122         0              0              0              32
   3  SprayBottle        -3.278         0.912          -1.444         0              0              0              25
   4  Towel              0.136          1.121          -2.080         0              0              0              26
   5  Candle             -3.420         0.124          -1.544         0              0              0              20
   6  Cloth              -3.296         0.083          -2.042         0              90             0              15
   7  HandTowel          -3.711         1.474          -0.410         0              270            0              29
   8  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
   9  SoapBottle         -1.695         1.044          -2.030         0              0              0              32
  10  SoapBar            -2.089         1.043          -2.091         0              0              0              32
  11  ToiletPaper        -2.305         0.755          -2.157         0              0              90             31
  12  ToiletPaper        -3.618         0.118          -0.485         0              0              0              27
  13  SprayBottle        -3.483         0.085          -1.233         0              180            0              18
  14  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  15  Cabinet            -3.169         0.370          -2.188         0              0              0
  16  Window             -1.737         1.292          -2.286         0              0              0
  17  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  18  Cabinet            -3.169         0.370          -1.379         0              0              0
  19  Mirror             -3.730         1.481          -1.427         0              0              0
  20  Cabinet            -3.169         0.370          -1.398         0              0              0
  21  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  22  Sink               -3.391         0.841          -1.828         0              90             0
  23  FloorLamp          -3.539         1.020          -0.932         0              90             0
  24  Cabinet            -3.169         0.370          -0.592         0              0              0
  25  CounterTop         -3.426         0.883          -1.384         0              0              0
  26  TowelHolder        0.136          1.106          -2.187         0              0              0
  27  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  28  SinkBasin          -3.392         0.916          -1.820         0              90             0
  29  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  30  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  31  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  32  Toilet             -1.896         -0.001         -1.738         0              90             0
  33  LightSwitch        -2.052         1.292          1.000          0              180            0
  34  FloorLamp          -3.539         1.020          -1.830         0              90             0
  35  ShowerHead         0.232          1.026          0.375          0              315            0
  36  Sink               -3.391         0.841          -0.931         0              90             0
  37  SinkBasin          -3.392         0.916          -0.923         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn left to go to the wall, then turn right to face the sink; look down at the cabinet. | STEP 2: Open the leftmost cabinet under the sink, and take out the rag from inside. | STEP 3: Look back up at the sink above. | STEP 4: Put the rag in the sink in front of you. | END