Task: Soak the towel, and place it inside 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              0.25           0.901          0.5            0              90             0
   1  Cloth              -1.529         0.243          1.865          0              0              0              24
   2  Cloth              -1.529         0.243          2.533          0              0              0              24
   3  Cloth              -1.458         0.736          2.827          0              0              0              22
   4  SoapBar            -1.801         0.731          2.927          0              0              0              22
   5  Candle             -1.823         1.087          0.485          0              90             0              36
   6  SprayBottle        -1.801         0.732          2.726          0              0              0              22
   7  SprayBottle        -1.873         1.047          0.879          0              90             0              36
   8  SoapBottle         -1.887         0.731          2.827          0              0              0              22
   9  HandTowel          -1.961         1.588          1.323          0              270            0              29
  10  Candle             -1.543         0.772          2.977          0              0              0              22
  11  HandTowel          -1.513         1.461          3.962          0              0              0              28
  12  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  13  Towel              0.871          1.172          2.356          0              0              0              27
  14  SoapBottle         -1.848         1.046          0.682          0              90             0              36
  15  SoapBar            -1.446         0.239          3.195          0              0              0              21
  16  ToiletPaper        -1.553         0.624          0.053          0              0              270            32
  17  Cloth              -1.529         0.243          2.132          0              0              0              24
  18  ToiletPaper        -1.874         0.722          1.860          0              0              0              24
  19  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  20  SprayBottle        -1.801         0.732          2.877          0              0              0              22
  21  Drawer             -1.335         0.301          3.329          0              0              0
  22  CounterTop         -1.608         0.701          2.831          0              0              0
  23  ShowerDoor         0.564          1.018          1.115          0              0              0
  24  Drawer             -1.335         0.301          2.132          0              0              0
  25  Mirror             -1.924         1.414          2.759          0              0              0
  26  Sink               -1.695         0.616          2.283          0              90             0
  27  TowelHolder        0.870          1.157          2.25           0              0              0
  28  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  29  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  30  Window             -1.037         1.399          0.019          90             0              0
  31  Window             -1.986         1.396          0.707          90             90             0
  32  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  33  GarbageCan         -1.739         -0.031         1.268          0              90             0
  34  LightSwitch        1.25           1.273          3.634          0              270            0
  35  SinkBasin          -1.674         0.633          2.274          0              270            0
  36  Toilet             -1.547         0.000          0.685          0              180            0
  37  Sink               -1.695         0.616          3.365          0              90             0
  38  SinkBasin          -1.674         0.633          3.355          0              270            0
  39  ShowerHead         0.853          1.797          1.108          0              180            0
  40  Faucet             -1.926         0.721          2.285          0              90             0
  41  Faucet             -1.926         0.721          3.368          0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn to the left, and walk to the sink. | STEP 2: Grab the yellow towel that's on the sink. | STEP 3: Place the towel under the faucet to soak it. | STEP 4: Grab the towel, and walk to the drawer. | STEP 5: Open the drawer and place the wet towel inside the drawer. | END