Task: put a clean rag away.

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          0.901          1.25           0              180            0
   1  SoapBar            -3.044         0.691          0.125          0              0              0              23
   2  Candle             -0.808         0.507          0.182          0              90             0              20
   3  SoapBottle         -0.200         0.983          3.184          0              180            0              18
   4  Towel              -2.554         1.597          0.106          0              0              0              29
   5  Cloth              -3.508         0.219          1.495          0              0              0              38
   6  Candle             -1.329         0.807          0.286          0              90             0              22
   7  HandTowel          -0.038         1.68           2.956          0              90             0              33
   8  SoapBar            -0.639         0.982          3.184          0              180            0              18
   9  ToiletPaper        -2.250         0.946          2.670          0              0              0              36
  10  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  11  SprayBottle        -0.543         0.805          0.352          0              90             0              22
  12  TissueBox          -0.805         0.808          0.286          0              90             0              22
  13  ToiletPaper        -0.697         0.199          0.406          0              90             0              21
  14  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  15  SoapBottle         -1.067         0.809          0.417          0              90             0              22
  16  Drawer             -1.324         0.312          0.311          0              90             0
  17  Drawer             -0.290         0.312          0.311          0              90             0
  18  Sink               -0.463         -0.013         3.046          0              180            0
  19  Mirror             -0.504         1.741          3.304          0              0              0
  20  Drawer             -0.808         0.611          0.311          0              90             0
  21  Drawer             -0.808         0.312          0.311          0              90             0
  22  CounterTop         -1.850         0.001          0.342          0              90             0
  23  Bathtub            -3.499         0.148          0.939          0              0              0
  24  Drawer             -1.840         0.312          0.311          0              90             0
  25  Faucet             -0.463         0.969          3.212          0              180            0
  26  Drawer             -0.290         0.611          0.311          0              90             0
  27  Drawer             -1.324         0.611          0.311          0              90             0
  28  Drawer             -1.840         0.611          0.311          0              90             0
  29  TowelHolder        -2.553         1.582          0.0            0              0              0
  30  TowelHolder        -2.553         0.859          0.0            0              0              0
  31  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  32  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  33  HandTowelHolder    0.0            1.781          2.956          0              180            0
  34  LightSwitch        0.0            1.368          1.993          0              270            0
  35  Window             -4.083         1.735          1.162          90             270            0
  36  Toilet             -1.835         0.000          2.503          0              90             0
  37  SinkBasin          -0.452         0.888          2.969          0              180            0
  38  BathtubBasin       -3.518         0.210          0.939          0              0              0
  39  ShowerHead         -3.540         1.821          1.820          0              0              0
  40  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: Turn to your right and go straight so that you're facing the bath tub. | STEP 2: Pick up the green rag from the tub. | STEP 3: Bring the rag with you and turn around, cross the room so that you're facing the sink from the left side of it. | STEP 4: Put the rag in the sink and get it wet, then pick it up again. | STEP 5: With the rag in hand, turn around and cross over to the white counter with the blue drawers. | STEP 6: Open the third drawer from the right side of the cabinet and the second one down and put the rag in it, then close it. | END