Task: Pick up cleaner from counter and place below in drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.901          2.5            0              0              0
   1  Cloth              -0.348         0.811          2.740          0              0              0              33
   2  Cloth              -0.348         0.811          3.130          0              0              0              33
   3  SoapBar            -3.559         0.191          1.414          0              270            0              44
   4  SoapBar            -2.829         0.954          3.139          0              270            0              42
   5  SoapBottle         -0.155         0.813          2.740          0              0              0              33
   6  ToiletPaper        -3.082         0.809          0.155          0              0              0              30
   7  HandTowel          -0.034         1.537          2.309          0              90             0              39
   8  Towel              -1.513         1.496          0.109          0              0              0              34
   9  Cloth              -3.559         0.190          1.273          0              90             0              44
  10  SoapBar            -3.017         0.954          3.193          0              270            0              42
  11  ToiletPaper        -1.792         0.014          0.194          0              0              0              36
  12  Plunger            -2.530         0.000          3.026          0              0              0
  13  Candle             -3.002         0.813          0.092          0              0              0              30
  14  SoapBottle         -3.002         0.813          0.279          0              0              0              30
  15  ToiletPaper        -2.954         0.951          3.166          0              270            0              42
  16  SprayBottle        -2.922         0.814          0.404          0              0              0              30
  17  ScrubBrush         -2.332         0.000          3.163          0              0              0
  18  Drawer             -0.325         0.319          2.155          0              0              0
  19  Mirror             0.0            1.473          1.917          0              270            0
  20  Drawer             -0.325         0.319          1.717          0              0              0
  21  Drawer             -0.325         0.319          2.592          0              0              0
  22  Bathtub            -3.589         0.107          1.521          0              0              0
  23  Drawer             -0.325         0.619          2.592          0              0              0
  24  Drawer             -2.249         0.319          0.280          0              0              0
  25  Drawer             -0.325         0.319          3.030          0              0              0
  26  Mirror             0.0            1.473          2.700          0              270            0
  27  Drawer             -0.325         0.619          3.030          0              0              0
  28  ShowerGlass        -0.494         1.490          0.528          0              0              0
  29  Sink               -2.539         0.661          0.252          0              0              0
  30  CounterTop         -2.540         0.805          0.280          0              0              0
  31  Drawer             -2.844         0.319          0.280          0              0              0
  32  ShowerDoor         -1.074         1.033          0.519          0              0              0
  33  CounterTop         -0.277         0.785          1.931          0              0              0
  34  TowelHolder        -1.513         1.481          0.002          0              0              0
  35  LightSwitch        -0.776         1.371          3.300          0              180            0
  36  GarbageCan         -1.754         0.001          0.227          0              0              0
  37  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  38  HandTowelHolder    0.004          1.639          3.105          0              180            0
  39  HandTowelHolder    0.004          1.639          2.309          0              180            0
  40  HandTowelHolder    0.004          1.639          1.542          0              180            0
  41  Window             -4.127         1.519          1.495          90             270            0
  42  Toilet             -2.842         0.000          2.755          0              180            0
  43  SinkBasin          -2.542         0.706          0.269          0              0              0
  44  BathtubBasin       -3.606         0.182          1.536          0              270            0
  45  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  46  Faucet             -2.540         0.794          0.111          0              0              0
  47  Faucet             -0.111         0.794          1.921          0              270            0
  48  ShowerHead         -3.612         1.776          2.299          0              0              0
  49  ShowerHead         -0.079         1.151          0.662          0              0              0
  50  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  51  Sink               -0.260         0.661          1.922          0              270            0
  52  SinkBasin          -0.277         0.706          1.920          0              270            0
  53  NorthWall
  54  SouthWall
  55  SouthWall

Plan:
STEP 1: Turn around, walk to bath tub, turn right, walk to bath tub, turn left, walk to counter | STEP 2: Pick up cleaner from counter | STEP 3: Turn around, walk forward one step, turn around | STEP 4: Open drawer below sink, place cleaner inside, close drawer | END