Task: Put a cleaned 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          1.0            0              90             0
   1  Cloth              -0.363         0.217          2.155          0              0              0              22
   2  Cloth              -0.309         0.217          1.671          0              0              0              24
   3  Cloth              -2.844         0.194          0.280          0              0              0              35
   4  Candle             -3.268         0.544          0.965          0              0              0              26
   5  Candle             -0.363         0.518          2.456          0              0              0              27
   6  SprayBottle        -1.997         0.814          0.155          0              0              0              34
   7  SprayBottle        -2.378         0.196          0.224          0              0              0              28
   8  SoapBottle         -2.077         0.813          0.404          0              0              0              34
   9  HandTowel          -0.034         1.537          1.542          0              90             0              44
  10  ToiletPaper        -0.348         0.809          2.480          0              0              0              37
  11  HandTowel          -0.034         1.537          3.105          0              90             0              42
  12  Towel              -1.513         1.496          0.109          0              0              0              38
  13  Cloth              -0.219         0.811          3.000          0              0              0              37
  14  SoapBar            -3.653         0.191          1.556          0              270            0              48
  15  ToiletPaper        -3.042         0.809          0.404          0              0              0              34
  16  Plunger            -2.530         0.000          3.026          0              0              0
  17  Candle             -2.954         0.953          3.246          0              270            0              46
  18  SoapBottle         -3.042         0.813          0.279          0              0              0              34
  19  ToiletPaper        -2.184         0.192          0.224          0              0              0              28
  20  SprayBottle        -2.962         0.814          0.404          0              0              0              34
  21  ScrubBrush         -2.332         0.000          3.163          0              0              0
  22  Drawer             -0.325         0.319          2.155          0              0              0
  23  Mirror             0.0            1.473          1.917          0              270            0
  24  Drawer             -0.325         0.319          1.717          0              0              0
  25  Drawer             -0.325         0.319          2.592          0              0              0
  26  Bathtub            -3.589         0.107          1.521          0              0              0
  27  Drawer             -0.325         0.619          2.592          0              0              0
  28  Drawer             -2.249         0.319          0.280          0              0              0
  29  Drawer             -0.325         0.319          3.030          0              0              0
  30  Mirror             0.0            1.473          2.700          0              270            0
  31  Drawer             -0.325         0.619          3.030          0              0              0
  32  ShowerGlass        -0.494         1.490          0.528          0              0              0
  33  Sink               -2.539         0.661          0.252          0              0              0
  34  CounterTop         -2.540         0.805          0.280          0              0              0
  35  Drawer             -2.844         0.319          0.280          0              0              0
  36  ShowerDoor         -1.074         1.033          0.519          0              0              0
  37  CounterTop         -0.277         0.785          1.931          0              0              0
  38  TowelHolder        -1.513         1.481          0.002          0              0              0
  39  LightSwitch        -0.776         1.371          3.300          0              180            0
  40  GarbageCan         -1.754         0.001          0.227          0              0              0
  41  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  42  HandTowelHolder    0.004          1.639          3.105          0              180            0
  43  HandTowelHolder    0.004          1.639          2.309          0              180            0
  44  HandTowelHolder    0.004          1.639          1.542          0              180            0
  45  Window             -4.127         1.519          1.495          90             270            0
  46  Toilet             -2.842         0.000          2.755          0              180            0
  47  SinkBasin          -2.542         0.706          0.269          0              0              0
  48  BathtubBasin       -3.606         0.182          1.536          0              270            0
  49  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  50  Faucet             -2.540         0.794          0.111          0              0              0
  51  Faucet             -0.111         0.794          1.921          0              270            0
  52  ShowerHead         -3.612         1.776          2.299          0              0              0
  53  ShowerHead         -0.079         1.151          0.662          0              0              0
  54  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  55  Sink               -0.260         0.661          1.922          0              270            0
  56  SinkBasin          -0.277         0.706          1.920          0              270            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: Turn left, go to door, turn right, got to counter left of sink.  | STEP 2: Pick up rag on counter.  | STEP 3: Bring the rag to the sink on the right. | STEP 4: Wash the rag in the sink.  | STEP 5: Bring the cleaned rag to the drawer under the sink, to the left. | STEP 6: Open that third drawer from the right and put the cleaned rag in there.  | END