Task: Pick up dirty cloth from counter, wash cloth, put 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              -2.5           0.901          2.0            0              270            0
   1  Cloth              -0.219         0.811          2.480          0              0              0              34
   2  Cloth              -0.255         0.517          2.547          0              0              0              24
   3  SoapBar            -0.470         0.518          2.683          0              0              0              24
   4  SprayBottle        -2.157         0.814          0.279          0              0              0              31
   5  SoapBottle         -2.767         0.954          3.193          0              270            0              43
   6  HandTowel          -3.172         1.487          0.340          0              270            0              38
   7  ToiletPaper        -2.286         0.825          3.221          0              180            270            46
   8  HandTowel          -0.034         1.537          3.105          0              90             0              39
   9  Towel              -1.513         1.496          0.109          0              0              0              35
  10  Cloth              -0.363         0.517          3.076          0              0              0              28
  11  SoapBar            -3.606         0.191          1.131          0              270            0              45
  12  ToiletPaper        -2.962         0.809          0.342          0              0              0              31
  13  Plunger            -2.530         0.000          3.026          0              0              0
  14  Candle             -3.017         0.953          3.139          0              270            0              43
  15  SoapBottle         -0.255         0.219          2.064          0              0              0              19
  16  ToiletPaper        -0.363         0.215          1.807          0              0              0              21
  17  SprayBottle        -2.157         0.814          0.467          0              0              0              31
  18  ScrubBrush         -2.332         0.000          3.163          0              0              0
  19  Drawer             -0.325         0.319          2.155          0              0              0
  20  Mirror             0.0            1.473          1.917          0              270            0
  21  Drawer             -0.325         0.319          1.717          0              0              0
  22  Drawer             -0.325         0.319          2.592          0              0              0
  23  Bathtub            -3.589         0.107          1.521          0              0              0
  24  Drawer             -0.325         0.619          2.592          0              0              0
  25  Drawer             -2.249         0.319          0.280          0              0              0
  26  Drawer             -0.325         0.319          3.030          0              0              0
  27  Mirror             0.0            1.473          2.700          0              270            0
  28  Drawer             -0.325         0.619          3.030          0              0              0
  29  ShowerGlass        -0.494         1.490          0.528          0              0              0
  30  Sink               -2.539         0.661          0.252          0              0              0
  31  CounterTop         -2.540         0.805          0.280          0              0              0
  32  Drawer             -2.844         0.319          0.280          0              0              0
  33  ShowerDoor         -1.074         1.033          0.519          0              0              0
  34  CounterTop         -0.277         0.785          1.931          0              0              0
  35  TowelHolder        -1.513         1.481          0.002          0              0              0
  36  LightSwitch        -0.776         1.371          3.300          0              180            0
  37  GarbageCan         -1.754         0.001          0.227          0              0              0
  38  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  39  HandTowelHolder    0.004          1.639          3.105          0              180            0
  40  HandTowelHolder    0.004          1.639          2.309          0              180            0
  41  HandTowelHolder    0.004          1.639          1.542          0              180            0
  42  Window             -4.127         1.519          1.495          90             270            0
  43  Toilet             -2.842         0.000          2.755          0              180            0
  44  SinkBasin          -2.542         0.706          0.269          0              0              0
  45  BathtubBasin       -3.606         0.182          1.536          0              270            0
  46  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  47  Faucet             -2.540         0.794          0.111          0              0              0
  48  Faucet             -0.111         0.794          1.921          0              270            0
  49  ShowerHead         -3.612         1.776          2.299          0              0              0
  50  ShowerHead         -0.079         1.151          0.662          0              0              0
  51  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  52  Sink               -0.260         0.661          1.922          0              270            0
  53  SinkBasin          -0.277         0.706          1.920          0              270            0
  54  NorthWall
  55  SouthWall
  56  SouthWall

Plan:
STEP 1: Turn around, go to counter with sink across the room. | STEP 2: Pick up dirty cloth from counter. | STEP 3: Move to the sink on right. | STEP 4: Put dirty cloth in sink, turn on water, turn off water and drain.  Pick up clean cloth from sink. | STEP 5: Move to the left to be between sink and drawer. | STEP 6: Put clean cloth in second drawer down. | END