Task: Clean dirty rag, put rag in bottom dresser drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.900          -2.75          0              0              0
   1  Cloth              -2.649         0.085          -0.822         0              90             0              32
   2  Candle             -0.026         1.043          -0.544         0              270            0              35
   3  SprayBottle        -0.116         1.162          -3.104         0              90             0              40
   4  SprayBottle        -0.149         1.045          -0.478         0              270            0              35
   5  SoapBar            -2.462         0.080          -0.678         0              90             0              32
   6  SoapBar            -2.649         0.080          -1.253         0              90             0              32
   7  SoapBottle         -0.180         1.166          -3.202         0              90             0              40
   8  HandTowel          -0.038         1.481          -2.661         0              90             0              29
   9  HandTowel          -0.038         1.481          -1.549         0              90             0              30
  10  SoapBar            -2.672         0.357          -2.923         0              0              0              24
  11  ToiletPaper        -0.104         1.035          -0.385         0              0              0              35
  12  ToiletPaper        -0.103         0.866          -1.033         0              270            270            33
  13  Towel              -1.338         1.193          -0.106         0              180            0              27
  14  SoapBottle         -2.512         0.095          -2.505         0              0              0              25
  15  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  16  Cloth              -2.694         0.997          -2.391         0              0              0              26
  17  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  18  Candle             -2.536         0.092          -3.131         0              0              0              25
  19  SprayBottle        -2.694         0.993          -2.657         0              0              0              26
  20  Bathtub            -2.104         0.524          -0.828         0              0              0
  21  Faucet             -0.040         1.017          -2.076         0              270            0
  22  Sink               -0.307         0.0            -2.076         0              270            0
  23  Mirror             -2.983         1.565          -2.900         0              0              0
  24  Shelf              -2.581         0.395          -2.923         0              0              0
  25  Shelf              -2.539         0.130          -2.923         0              0              0
  26  CounterTop         -2.704         1.029          -2.923         0              0              0
  27  TowelHolder        -1.338         1.179          0.0            0              180            0
  28  LightSwitch        -0.363         1.330          -3.999         0              0              0
  29  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  30  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  31  SinkBasin          -0.310         0.859          -2.076         0              0              0
  32  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  33  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  34  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  35  Toilet             -0.411         -0.000         -0.547         0              0              0
  36  Drawer             -0.229         0.161          -3.398         0              270            0
  37  Drawer             -0.229         0.420          -3.398         0              270            0
  38  Drawer             -0.229         0.680          -3.398         0              270            0
  39  Drawer             -0.229         0.940          -3.398         0              270            0
  40  Dresser            -0.205         0.000          -3.398         0              270            0
  41  ShowerHead         -2.579         1.261          -0.064         0              270            0
  42  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  43  EastWall
  44  EastWall
  45  SouthWall

Plan:
STEP 1: turn left, face counter with rag | STEP 2: Pick up dirty rag on the counter | STEP 3: Turn around, go to granite sink | STEP 4: place dirty rag in sink, fill sink with water, remove clean rag from sink | STEP 5: go to dresser on right of sink | STEP 6: open bottom drawer of dresser, place rag in drawer, close drawer | END