Task: Put a clean rag 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              -1.25          0.902          2.25           0              0              0
   1  SoapBar            -2.493         1.046          1.822          0              90             0              39
   2  SoapBar            -2.337         0.586          0.484          0              0              0              26
   3  Candle             -2.646         1.044          1.494          0              90             0              39
   4  Candle             0.562          0.489          2.113          0              0              0              28
   5  SoapBottle         0.855          0.114          3.063          0              0              0              38
   6  Towel              0.474          1.182          0.134          0              0              0              32
   7  HandTowel          1.033          1.671          3.127          0              90             0              36
   8  Towel              0.931          1.193          0.495          0              270            0              31
   9  SoapBar            0.562          0.490          2.215          0              0              0              28
  10  ToiletPaper        -2.576         0.578          0.465          0              0              0              26
  11  SoapBottle         0.549          0.587          0.601          0              0              0              26
  12  ToiletPaper        -2.626         0.790          1.235          0              90             270            33
  13  ScrubBrush         -2.557         0.001          2.200          0              0              0
  14  Plunger            -2.568         0.000          1.992          0              0              0
  15  Cloth              -2.554         1.046          1.691          0              90             0              39
  16  Candle             0.604          0.489          2.318          0              0              0              28
  17  SprayBottle        -2.217         0.587          0.835          0              0              0              26
  18  Window             -2.808         0.962          0.514          0              0              0
  19  Bathtub            -1.062         0.300          0.427          0              0              0
  20  Drawer             0.409          0.551          1.486          0              0              0
  21  Mirror             0.986          1.676          1.896          0              0              0
  22  ShowerDoor         -2.671         1.001          2.797          0              0              0
  23  CounterTop         0.732          0.697          1.955          0              0              0
  24  Drawer             0.409          0.314          2.420          0              0              0
  25  ShowerGlass        -1.713         1.276          3.298          0              0              0
  26  CounterTop         -0.298         0.157          0.531          0              0              0
  27  Sink               0.812          0.703          1.920          0              270            0
  28  Drawer             0.409          0.551          2.420          0              0              0
  29  Window             -0.957         1.563          -0.059         0              0              0
  30  Drawer             0.409          0.314          1.486          0              0              0
  31  TowelHolder        1.038          1.179          0.495          0              270            0
  32  TowelHolder        0.474          1.168          0.027          0              0              0
  33  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  34  SinkBasin          0.720          0.812          1.896          349.201        270            0
  35  BathtubBasin       -0.721         0.171          0.479          0              0              0
  36  HandTowelHolder    1.071          1.773          3.127          0              180            0
  37  LightSwitch        0.220          1.416          3.998          0              180            0
  38  GarbageCan         0.713          -0.028         3.110          0              0              0
  39  Toilet             -2.232         0.001          1.628          0              180            0
  40  ShowerHead         -2.619         1.819          3.361          0              270            0
  41  Faucet             1.047          1.036          1.921          0              0              0
  42  Faucet             0.318          0.631          0.479          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn left, go forward, then turn left to face the toilet. | STEP 2: Pick up the rag on the back of the toilet. | STEP 3: Turn left and go to the sink in front of you. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around, and then turn back around to face the drawers under the sink, to the right. | STEP 6: Put the rag in the top drawer on the right | END