Task: put two dirty cloths on to the shelf under the counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          -3.5           0              0              0
   1  Cloth              -0.116         1.170          -3.497         0              90             0              38
   2  Cloth              -2.649         0.085          -0.678         0              90             0              30
   3  Candle             -0.185         0.877          -3.254         0              90             0              37
   4  SprayBottle        -0.149         1.045          -0.544         0              270            0              33
   5  SoapBar            -2.462         0.080          -1.253         0              90             0              30
   6  SoapBar            -0.191         0.043          -2.849         0              90             0              32
   7  HandTowel          -0.038         1.481          -2.661         0              90             0              27
   8  SoapBar            -2.915         0.992          -2.657         0              0              0              24
   9  ToiletPaper        -0.103         0.866          -1.033         0              270            270            31
  10  ToiletPaper        -0.116         1.158          -3.693         0              90             0              38
  11  Towel              -1.338         1.193          -0.106         0              180            0              25
  12  SoapBottle         -0.088         1.046          -0.675         0              270            0              33
  13  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  14  Cloth              -2.768         0.997          -2.657         0              0              0              24
  15  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  16  Candle             -0.057         1.043          -0.478         0              270            0              33
  17  SprayBottle        -0.191         0.045          -2.798         0              180            0              32
  18  Bathtub            -2.104         0.524          -0.828         0              0              0
  19  Faucet             -0.040         1.017          -2.076         0              270            0
  20  Sink               -0.307         0.0            -2.076         0              270            0
  21  Mirror             -2.983         1.565          -2.900         0              0              0
  22  Shelf              -2.581         0.395          -2.923         0              0              0
  23  Shelf              -2.539         0.130          -2.923         0              0              0
  24  CounterTop         -2.704         1.029          -2.923         0              0              0
  25  TowelHolder        -1.338         1.179          0.0            0              180            0
  26  LightSwitch        -0.363         1.330          -3.999         0              0              0
  27  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  28  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  29  SinkBasin          -0.310         0.859          -2.076         0              0              0
  30  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  31  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  32  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  33  Toilet             -0.411         -0.000         -0.547         0              0              0
  34  Drawer             -0.229         0.161          -3.398         0              270            0
  35  Drawer             -0.229         0.420          -3.398         0              270            0
  36  Drawer             -0.229         0.680          -3.398         0              270            0
  37  Drawer             -0.229         0.940          -3.398         0              270            0
  38  Dresser            -0.205         0.000          -3.398         0              270            0
  39  ShowerHead         -2.579         1.261          -0.064         0              270            0
  40  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  41  EastWall
  42  EastWall
  43  SouthWall

Plan:
STEP 1: turn to the left and move forward to the white counter | STEP 2: pick up the dirty white cloth from the counter | STEP 3: stay facing the counter with the shelves underneath | STEP 4: put the dirty cloth on to the middle of the top shelf under the counter | STEP 5: turn around and move forward to the chest of drawers on the other side of the room | STEP 6: remove the dirty cloth that is on top of the dresser | STEP 7: turn around and move across the room to the counter with the shelves below it | STEP 8: put the second dirty cloth on top of the first dirty cloth that is on the top shelf | END