Task: Putting 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           0.901          0.75           0              90             0
   1  SoapBar            -3.017         0.954          3.193          0              270            0              39
   2  SoapBar            -0.284         0.812          2.870          0              0              0              30
   3  Candle             -2.829         0.953          3.246          0              270            0              39
   4  HandTowel          -0.034         1.537          2.309          0              90             0              36
   5  Towel              -1.513         1.496          0.109          0              0              0              31
   6  Cloth              -0.155         0.811          2.610          0              0              0              30
   7  SoapBar            -1.792         0.017          0.222          0              0              0              33
   8  ToiletPaper        -3.002         0.809          0.342          0              0              0              27
   9  Plunger            -2.530         0.000          3.026          0              0              0
  10  Candle             -2.892         0.953          3.220          0              270            0              39
  11  SoapBottle         -0.363         0.219          2.155          0              0              0              15
  12  ToiletPaper        -2.407         0.146          3.218          0              0              270            42
  13  SprayBottle        -0.476         0.813          3.130          0              0              0              30
  14  ScrubBrush         -2.332         0.000          3.163          0              0              0
  15  Drawer             -0.325         0.319          2.155          0              0              0
  16  Mirror             0.0            1.473          1.917          0              270            0
  17  Drawer             -0.325         0.319          1.717          0              0              0
  18  Drawer             -0.325         0.319          2.592          0              0              0
  19  Bathtub            -3.589         0.107          1.521          0              0              0
  20  Drawer             -0.325         0.619          2.592          0              0              0
  21  Drawer             -2.249         0.319          0.280          0              0              0
  22  Drawer             -0.325         0.319          3.030          0              0              0
  23  Mirror             0.0            1.473          2.700          0              270            0
  24  Drawer             -0.325         0.619          3.030          0              0              0
  25  ShowerGlass        -0.494         1.490          0.528          0              0              0
  26  Sink               -2.539         0.661          0.252          0              0              0
  27  CounterTop         -2.540         0.805          0.280          0              0              0
  28  Drawer             -2.844         0.319          0.280          0              0              0
  29  ShowerDoor         -1.074         1.033          0.519          0              0              0
  30  CounterTop         -0.277         0.785          1.931          0              0              0
  31  TowelHolder        -1.513         1.481          0.002          0              0              0
  32  LightSwitch        -0.776         1.371          3.300          0              180            0
  33  GarbageCan         -1.754         0.001          0.227          0              0              0
  34  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  35  HandTowelHolder    0.004          1.639          3.105          0              180            0
  36  HandTowelHolder    0.004          1.639          2.309          0              180            0
  37  HandTowelHolder    0.004          1.639          1.542          0              180            0
  38  Window             -4.127         1.519          1.495          90             270            0
  39  Toilet             -2.842         0.000          2.755          0              180            0
  40  SinkBasin          -2.542         0.706          0.269          0              0              0
  41  BathtubBasin       -3.606         0.182          1.536          0              270            0
  42  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  43  Faucet             -2.540         0.794          0.111          0              0              0
  44  Faucet             -0.111         0.794          1.921          0              270            0
  45  ShowerHead         -3.612         1.776          2.299          0              0              0
  46  ShowerHead         -0.079         1.151          0.662          0              0              0
  47  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  48  Sink               -0.260         0.661          1.922          0              270            0
  49  SinkBasin          -0.277         0.706          1.920          0              270            0
  50  NorthWall
  51  SouthWall
  52  SouthWall

Plan:
STEP 1: Turn left and go to the counter to the left of the sink | STEP 2: Grab the rag off of the counter | STEP 3: Turn right and stop at the sink | STEP 4: Wash the rag in the sink and then take it out | STEP 5: Back up and face the drawers underneath the sink | STEP 6: Put the rag in the second drawer on the bottom | END