Task: Put two clothes into drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.902          1.5            0              0              0
   1  Cloth              -1.892         0.702          -0.585         0              90             0              31
   2  Cloth              -2.347         0.702          -0.528         0              90             0              31
   3  Cloth              -3.602         0.038          0.780          0              0              0              45
   4  SprayBottle        -0.544         0.951          -0.748         0              90             0              43
   5  SprayBottle        -0.794         0.951          -0.775         0              90             0              43
   6  Candle             -2.440         0.175          -0.683         0              90             0              28
   7  Candle             -0.794         0.953          -0.722         0              90             0              43
   8  SoapBottle         -0.669         0.957          -0.748         0              90             0              43
   9  SoapBottle         -3.145         0.615          -0.481         0              0              0              36
  10  ToiletPaper        -3.145         0.609          1.685          0              0              0              36
  11  Towel              -3.66          1.567          -0.459         0              0              0              38
  12  Candle             -2.936         0.175          -0.538         0              90             0              30
  13  HandTowel          -1.275         1.683          2.244          0              0              0              41
  14  SoapBar            -3.319         0.612          1.609          0              0              0              36
  15  ToiletPaper        -2.120         0.700          -0.471         0              90             0              31
  16  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  17  SprayBottle        -2.120         0.700          -0.698         0              90             0              31
  18  SoapBottle         -1.665         0.706          -0.642         0              90             0              31
  19  TissueBox          -2.343         0.443          -0.683         0              90             0              27
  20  ToiletPaper        -2.575         0.700          -0.812         0              90             0              31
  21  PaperTowelRoll     -0.919         1.060          -0.722         0              90             0              43
  22  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  23  Cloth              -3.775         0.038          0.409          0              0              0              45
  24  DishSponge         -1.991         0.444          -0.586         0              90             0              27
  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 left, go forward, turn left, go forward | STEP 2: Pick up the cloth on the counter | STEP 3: Turn around, go forward a bit, turn around | STEP 4: Put the cloth in the bottom third drawer from the right | STEP 5: Turn around, go forward a bit, turn left | STEP 6: Pick up the cloth | STEP 7: Turn around, go forward a bit, turn right | STEP 8: Put the cloth in the bottom third drawer from the right | END