Task: Put a clean rag in a 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           0.902          0.75           0              180            0
   1  SoapBar            -1.892         0.703          -0.642         0              90             0              24
   2  SoapBar            -2.440         0.442          -0.635         0              90             0              20
   3  HandTowel          -2.576         1.683          2.244          0              0              0              33
   4  Towel              -3.66          1.567          -0.459         0              0              0              31
   5  Candle             -3.197         0.611          1.094          0              0              0              29
   6  HandTowel          -1.275         1.683          2.244          0              0              0              34
   7  SoapBar            -4.034         0.039          0.039          0              0              0              38
   8  ToiletPaper        -1.380         0.695          -0.751         0              0              0              24
   9  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  10  SprayBottle        -0.544         0.951          -0.722         0              90             0              36
  11  SoapBottle         -2.803         0.706          -0.642         0              90             0              24
  12  TissueBox          -1.396         0.443          -0.635         0              90             0              18
  13  ToiletPaper        -2.575         0.700          -0.585         0              90             0              24
  14  PaperTowelRoll     -2.347         0.809          -0.528         0              90             0              24
  15  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  16  Cloth              -3.689         0.038          0.965          0              0              0              38
  17  DishSponge         -3.284         0.613          1.723          0              0              0              29
  18  Drawer             -1.444         0.531          -0.620         0              90             0
  19  Sink               -1.919         0.441          2.032          0              180            0
  20  Drawer             -2.343         0.531          -0.620         0              90             0
  21  Drawer             -2.343         0.271          -0.620         0              90             0
  22  Drawer             -1.894         0.271          -0.620         0              90             0
  23  Drawer             -2.791         0.271          -0.620         0              90             0
  24  CounterTop         -2.799         0.001          -0.593         0              90             0
  25  Drawer             -1.894         0.531          -0.620         0              90             0
  26  Mirror             -1.909         1.748          2.280          0              0              0
  27  Drawer             -2.791         0.531          -0.620         0              90             0
  28  Drawer             -1.444         0.271          -0.620         0              90             0
  29  Bathtub            -3.706         0.342          0.636          0              0              0
  30  Faucet             -1.919         1.064          2.182          0              180            0
  31  TowelHolder        -3.660         1.552          -0.558         0              0              0
  32  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  33  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  34  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  35  LightSwitch        -0.558         1.282          2.281          0              180            0
  36  Toilet             -0.720         0.001          -0.310         0              0              0
  37  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  38  BathtubBasin       -3.788         0.028          0.595          0              0              0
  39  SinkBasin          -1.908         1.011          1.981          0              180            0
  40  ShowerHead         -3.740         1.858          1.827          0              0              0
  41  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around and take a step forward, then turn left and walk up to the tub. | STEP 2: Pick up the dirty rag out of the tub. | STEP 3: Turn right and walk forward, then turn right again and walk over to the sink. | STEP 4: Wash the dirty rag in the sink and then pick it back up. | STEP 5: Turn right and walk over to the dresser. | STEP 6: Open the second upper drawer from the left of the dresser and put the clean rag inside the drawer, then close the drawer. | END