Task: To clean a rag and place it  in the second cabinet from the left of the top row of the dresser.

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          0.902          0.25           0              180            0
   1  Cloth              -3.948         0.038          0.595          0              0              0              46
   2  Cloth              -3.602         0.038          0.224          0              0              0              46
   3  Cloth              -2.575         0.702          -0.698         0              90             0              32
   4  TissueBox          -2.391         0.443          -0.635         0              90             0              28
   5  TissueBox          -1.396         0.176          -0.586         0              90             0              36
   6  SprayBottle        -0.544         0.951          -0.775         0              90             0              44
   7  SprayBottle        -2.347         0.700          -0.642         0              90             0              32
   8  Candle             -1.541         0.176          -0.683         0              90             0              30
   9  Candle             -2.120         0.702          -0.528         0              90             0              32
  10  SoapBottle         -3.215         0.615          1.571          0              0              0              37
  11  ToiletPaper        -2.347         0.700          -0.528         0              90             0              32
  12  Towel              -3.66          1.567          -0.459         0              0              0              39
  13  Candle             -3.136         0.611          0.638          0              0              0              37
  14  HandTowel          -2.576         1.683          2.244          0              0              0              41
  15  SoapBar            -3.250         0.612          1.723          0              0              0              37
  16  ToiletPaper        -2.887         0.439          -0.586         0              90             0              35
  17  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  18  SprayBottle        -0.919         0.951          -0.775         0              90             0              44
  19  SoapBottle         -2.120         0.706          -0.755         0              90             0              32
  20  TissueBox          -2.295         0.176          -0.635         0              90             0              29
  21  ToiletPaper        -0.669         0.951          -0.748         0              90             0              44
  22  PaperTowelRoll     -0.732         1.060          -0.722         0              90             0              44
  23  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  24  Cloth              -1.798         0.174          -0.635         0              180            0              30
  25  DishSponge         -0.857         0.955          -0.695         0              90             0              44
  26  Drawer             -1.444         0.531          -0.620         0              90             0
  27  Sink               -1.919         0.441          2.032          0              180            0
  28  Drawer             -2.343         0.531          -0.620         0              90             0
  29  Drawer             -2.343         0.271          -0.620         0              90             0
  30  Drawer             -1.894         0.271          -0.620         0              90             0
  31  Drawer             -2.791         0.271          -0.620         0              90             0
  32  CounterTop         -2.799         0.001          -0.593         0              90             0
  33  Drawer             -1.894         0.531          -0.620         0              90             0
  34  Mirror             -1.909         1.748          2.280          0              0              0
  35  Drawer             -2.791         0.531          -0.620         0              90             0
  36  Drawer             -1.444         0.271          -0.620         0              90             0
  37  Bathtub            -3.706         0.342          0.636          0              0              0
  38  Faucet             -1.919         1.064          2.182          0              180            0
  39  TowelHolder        -3.660         1.552          -0.558         0              0              0
  40  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  41  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  42  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  43  LightSwitch        -0.558         1.282          2.281          0              180            0
  44  Toilet             -0.720         0.001          -0.310         0              0              0
  45  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  46  BathtubBasin       -3.788         0.028          0.595          0              0              0
  47  SinkBasin          -1.908         1.011          1.981          0              180            0
  48  ShowerHead         -3.740         1.858          1.827          0              0              0
  49  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: TUrn right and walk across the room to face the bath tub. | STEP 2: Pick up the dirty rag on the left of the bath tub. | STEP 3: Turn right to face the sink. | STEP 4: Wash the dirty rag in the sink and remove it. | STEP 5: Turn around to face the dresser. | STEP 6: Place the clean rag in the second cabinet from the left of the top row of the dresser. | END