Task: Pick up cloths and place them in drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.902          1.25           0              180            0
   1  Cloth              -3.775         0.038          0.595          0              0              0              44
   2  Cloth              -1.665         0.702          -0.528         0              90             0              30
   3  TissueBox          -1.444         0.442          -0.635         0              90             0              24
   4  TissueBox          -0.857         0.955          -0.749         0              90             0              42
   5  SprayBottle        -2.120         0.700          -0.528         0              90             0              30
   6  SprayBottle        -2.575         0.700          -0.642         0              90             0              30
   7  Candle             -2.343         0.175          -0.635         0              90             0              27
   8  Candle             -3.110         0.611          -0.481         0              0              0              35
   9  SoapBottle         -2.120         0.706          -0.698         0              90             0              30
  10  Towel              -3.66          1.567          -0.459         0              0              0              37
  11  Candle             -1.892         0.702          -0.528         0              90             0              30
  12  HandTowel          -2.576         1.683          2.244          0              0              0              39
  13  SoapBar            -1.997         1.019          1.922          0              180            0              45
  14  ToiletPaper        -1.380         0.695          -0.751         0              0              0              30
  15  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  16  SprayBottle        -1.892         0.700          -0.585         0              90             0              30
  17  SoapBottle         -3.176         0.615          0.410          0              0              0              35
  18  TissueBox          -0.607         0.955          -0.748         0              90             0              42
  19  ToiletPaper        -3.156         0.609          -0.044         0              0              0              35
  20  PaperTowelRoll     -2.120         0.809          -0.812         0              90             0              30
  21  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  22  Cloth              -3.948         0.038          0.039          0              0              0              44
  23  DishSponge         -1.798         0.443          -0.538         0              90             0              24
  24  Drawer             -1.444         0.531          -0.620         0              90             0
  25  Sink               -1.919         0.441          2.032          0              180            0
  26  Drawer             -2.343         0.531          -0.620         0              90             0
  27  Drawer             -2.343         0.271          -0.620         0              90             0
  28  Drawer             -1.894         0.271          -0.620         0              90             0
  29  Drawer             -2.791         0.271          -0.620         0              90             0
  30  CounterTop         -2.799         0.001          -0.593         0              90             0
  31  Drawer             -1.894         0.531          -0.620         0              90             0
  32  Mirror             -1.909         1.748          2.280          0              0              0
  33  Drawer             -2.791         0.531          -0.620         0              90             0
  34  Drawer             -1.444         0.271          -0.620         0              90             0
  35  Bathtub            -3.706         0.342          0.636          0              0              0
  36  Faucet             -1.919         1.064          2.182          0              180            0
  37  TowelHolder        -3.660         1.552          -0.558         0              0              0
  38  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  39  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  40  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  41  LightSwitch        -0.558         1.282          2.281          0              180            0
  42  Toilet             -0.720         0.001          -0.310         0              0              0
  43  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  44  BathtubBasin       -3.788         0.028          0.595          0              0              0
  45  SinkBasin          -1.908         1.011          1.981          0              180            0
  46  ShowerHead         -3.740         1.858          1.827          0              0              0
  47  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Walk forward, turn right at bath tub | STEP 2: Pick up cloth on right side | STEP 3: Turn around, turn right | STEP 4: open drawer, place cloth in drawer | STEP 5: Close drawer, walk forward to counter | STEP 6: Pick up cloth on top of counter | STEP 7: Turn around, walk forward, turn around | STEP 8: Open drawer, place cloth in drawer | END