Task: Put a clean yellow rag in a drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.75          0.900          4.75           0              0              0
   1  Cloth              -1.401         0.274          1.832          0              0              0              19
   2  SoapBar            -2.452         0.269          1.987          0              0              0              26
   3  Candle             -2.743         0.546          1.935          0              0              0              22
   4  SoapBottle         -1.922         0.828          1.439          0              0              0              17
   5  Towel              -4.739         1.522          2.425          0              90             0              30
   6  Candle             -1.880         0.835          2.116          0              0              0              17
   7  HandTowel          -3.726         1.646          1.330          0              180            0              35
   8  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
   9  SoapBar            -1.079         1.044          4.263          0              270            0              37
  10  ToiletPaper        -0.968         0.888          3.960          0              270            270            38
  11  Cloth              -2.372         0.831          1.756          0              0              0              17
  12  ToiletPaper        -1.979         0.809          1.695          0              0              0              17
  13  Towel              -4.739         1.522          3.359          0              90             0              29
  14  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  15  SoapBottle         -1.064         0.121          3.671          0              90             0              36
  16  SprayBottle        -3.432         0.827          1.545          0              0              0              17
  17  CounterTop         -2.177         0.782          1.889          0              0              0
  18  Drawer             -1.307         0.606          1.890          0              0              0
  19  Drawer             -1.307         0.337          1.890          0              0              0
  20  Faucet             -4.646         0.448          1.689          0              0              0
  21  ShowerDoor         -4.873         1.235          3.947          0              0              0
  22  Drawer             -3.029         0.337          1.890          0              0              0
  23  Drawer             -2.169         0.606          1.890          0              0              0
  24  Drawer             -3.029         0.606          1.890          0              0              0
  25  Bathtub            -4.080         0.297          2.480          0              345.000        0
  26  Drawer             -2.169         0.337          1.890          0              0              0
  27  Mirror             -2.177         1.856          1.390          0              0              0
  28  Sink               -1.421         0.837          1.776          0              0              0
  29  TowelHolder        -4.846         1.508          3.358          0              90             0
  30  TowelHolder        -4.846         1.508          2.424          0              90             0
  31  LightSwitch        -2.165         1.450          4.972          0              180            0
  32  BathtubBasin       -4.309         0.192          2.328          0              270            0
  33  SinkBasin          -1.442         0.874          1.785          0              0              0
  34  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  35  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  36  GarbageCan         -1.116         -0.037         3.598          0              270            0
  37  Toilet             -1.340         -0.000         4.456          0              0              0
  38  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  39  Faucet             -1.421         0.954          1.507          0              0              0
  40  ShowerHead         -5.257         1.733          4.030          0              90             0
  41  Faucet             -2.944         0.954          1.507          0              0              0
  42  Sink               -2.943         0.837          1.776          0              0              0
  43  SinkBasin          -2.964         0.874          1.785          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Walk over to the middle of the sink counter. | STEP 2: Pick up the yellow rag off of the counter. | STEP 3: Turn left and walk towards the wall, then turn right to face the sink. | STEP 4: Put the yellow rag in the leftmost sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean rag. | STEP 5: Turn around and walk forward, then turn right and take a step forward, turn right again to face the counter. | STEP 6: Open the leftmost upper drawer below the cabinets and put the clean yellow rag inside, then close the drawer. | END