Task: put a clean cloth in to 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              -3.0           0.900          3.25           0              0              0
   1  Cloth              -2.372         0.831          1.968          0              0              0              16
   2  SoapBar            -0.936         0.826          1.968          0              0              0              16
   3  SoapBar            -1.922         0.826          1.439          0              0              0              16
   4  SprayBottle        -1.922         0.827          1.651          0              0              0              16
   5  Candle             -1.495         0.278          1.935          0              0              0              18
   6  HandTowel          -0.923         1.59           2.018          0              90             0              33
   7  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
   8  SoapBar            -2.452         0.269          1.935          0              0              0              25
   9  ToiletPaper        -1.086         0.117          3.734          0              90             0              35
  10  Cloth              -4.309         0.207          2.211          0              270            0              31
  11  ToiletPaper        -0.968         0.888          3.960          0              270            270            37
  12  Towel              -4.739         1.522          2.425          0              90             0              29
  13  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  14  SoapBottle         -1.018         1.046          4.263          0              270            0              36
  15  SprayBottle        -1.086         0.121          3.608          0              0              0              35
  16  CounterTop         -2.177         0.782          1.889          0              0              0
  17  Drawer             -1.307         0.606          1.890          0              0              0
  18  Drawer             -1.307         0.337          1.890          0              0              0
  19  Faucet             -4.646         0.448          1.689          0              0              0
  20  ShowerDoor         -4.873         1.235          3.947          0              0              0
  21  Drawer             -3.029         0.337          1.890          0              0              0
  22  Drawer             -2.169         0.606          1.890          0              0              0
  23  Drawer             -3.029         0.606          1.890          0              0              0
  24  Bathtub            -4.080         0.297          2.480          0              345.000        0
  25  Drawer             -2.169         0.337          1.890          0              0              0
  26  Mirror             -2.177         1.856          1.390          0              0              0
  27  Sink               -1.421         0.837          1.776          0              0              0
  28  TowelHolder        -4.846         1.508          3.358          0              90             0
  29  TowelHolder        -4.846         1.508          2.424          0              90             0
  30  LightSwitch        -2.165         1.450          4.972          0              180            0
  31  BathtubBasin       -4.309         0.192          2.328          0              270            0
  32  SinkBasin          -1.442         0.874          1.785          0              0              0
  33  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  34  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  35  GarbageCan         -1.116         -0.037         3.598          0              270            0
  36  Toilet             -1.340         -0.000         4.456          0              0              0
  37  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  38  Faucet             -1.421         0.954          1.507          0              0              0
  39  ShowerHead         -5.257         1.733          4.030          0              90             0
  40  Faucet             -2.944         0.954          1.507          0              0              0
  41  Sink               -2.943         0.837          1.776          0              0              0
  42  SinkBasin          -2.964         0.874          1.785          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn to the left and move to the bath tub | STEP 2: remove the yellow cloth from the bath tub | STEP 3: turn around, move forward, stop at the first sink and turn to the right to face the sink | STEP 4: put the yellow cloth in to the sink, turn on the water to rinse the cloth, turn off the water and remove the cloth from the sink | STEP 5: move back slightly to face the drawer under the sink on the right side | STEP 6: open the drawer, put the clean cloth in to the drawer and shut it | END