Task: put a clean cloth in to 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              -2.0           0.902          1.25           0              90             0
   1  Cloth              -3.602         0.038          0.409          0              0              0              45
   2  Cloth              -3.689         0.038          0.965          0              0              0              45
   3  TissueBox          -1.437         0.704          -0.755         0              90             0              31
   4  SprayBottle        -1.556         0.025          2.059          0              180            0              39
   5  Candle             -0.607         0.954          -0.775         0              90             0              43
   6  Candle             -0.794         0.954          -0.748         0              90             0              43
   7  SoapBar            -2.440         0.442          -0.586         0              90             0              27
   8  SoapBar            -1.680         1.093          2.164          0              180            0              26
   9  DishSponge         -3.602         0.040          0.595          0              0              0              36
  10  ToiletPaper        -2.120         0.700          -0.585         0              90             0              31
  11  Towel              -3.66          1.567          -0.459         0              0              0              38
  12  Candle             -0.732         0.954          -0.668         0              90             0              43
  13  HandTowel          -2.576         1.683          2.244          0              0              0              40
  14  SoapBar            -1.894         0.177          -0.635         0              90             0              29
  15  ToiletPaper        -1.665         0.700          -0.755         0              90             0              31
  16  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  17  SprayBottle        -0.857         0.951          -0.668         0              180            0              43
  18  SoapBottle         -1.665         0.706          -0.585         0              90             0              31
  19  TissueBox          -1.894         0.442          -0.683         0              90             0              32
  20  ToiletPaper        -1.892         0.700          -0.698         0              90             0              31
  21  PaperTowelRoll     -0.544         1.060          -0.695         0              90             0              43
  22  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  23  Cloth              -3.861         0.038          0.224          0              0              0              45
  24  DishSponge         -3.136         0.613          0.183          0              0              0              36
  25  Drawer             -1.444         0.531          -0.620         0              90             0
  26  Sink               -1.919         0.441          2.032          0              180            0
  27  Drawer             -2.343         0.531          -0.620         0              90             0
  28  Drawer             -2.343         0.271          -0.620         0              90             0
  29  Drawer             -1.894         0.271          -0.620         0              90             0
  30  Drawer             -2.791         0.271          -0.620         0              90             0
  31  CounterTop         -2.799         0.001          -0.593         0              90             0
  32  Drawer             -1.894         0.531          -0.620         0              90             0
  33  Mirror             -1.909         1.748          2.280          0              0              0
  34  Drawer             -2.791         0.531          -0.620         0              90             0
  35  Drawer             -1.444         0.271          -0.620         0              90             0
  36  Bathtub            -3.706         0.342          0.636          0              0              0
  37  Faucet             -1.919         1.064          2.182          0              180            0
  38  TowelHolder        -3.660         1.552          -0.558         0              0              0
  39  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  40  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  41  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  42  LightSwitch        -0.558         1.282          2.281          0              180            0
  43  Toilet             -0.720         0.001          -0.310         0              0              0
  44  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  45  BathtubBasin       -3.788         0.028          0.595          0              0              0
  46  SinkBasin          -1.908         1.011          1.981          0              180            0
  47  ShowerHead         -3.740         1.858          1.827          0              0              0
  48  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn around and move forward to the bath tub | STEP 2: pick up the middle dirty cloth that is in the bath tub | STEP 3: turn to the right and move to the sink | STEP 4: put the dirty cloth in to the sink, turn on the water to clean the cloth, turn the water off and pick up the clean cloth from the sink | STEP 5: turn around and move forward to the counter across the bathroom to the left of the tub | STEP 6: open the second drawer from the left, put the cloth in to the drawer and close it | END