Task: Put a cloth in 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              -0.25          0.901          3.0            0              90             0
   1  SoapBar            0.398          0.676          2.855          0              270            0              33
   2  SprayBottle        0.588          0.820          3.294          0              0              0              24
   3  SoapBottle         0.455          0.827          3.184          0              0              0              24
   4  HandTowel          0.634          1.512          1.892          0              90             0              34
   5  SoapBottle         0.521          0.827          2.106          0              0              0              24
   6  HandTowel          0.634          1.512          3.564          0              90             0              35
   7  Towel              0.609          1.376          0.583          0              270            0              28
   8  SoapBar            0.614          0.210          3.231          0              0              0              27
   9  ToiletPaper        0.655          1.041          1.270          0              270            0              36
  10  ToiletPaper        0.308          0.615          1.912          0              180            90             31
  11  Candle             0.502          1.046          1.270          0              270            0              36
  12  ScrubBrush         0.553          0.000          1.725          0              0              0
  13  Cloth              0.594          1.050          1.467          0              270            0              36
  14  Plunger            0.594          -0.000         1.898          0              0              0
  15  SprayBottle        0.323          0.820          3.184          0              0              0              24
  16  Drawer             0.443          0.624          3.310          0              0              0
  17  Drawer             0.443          0.323          2.194          0              0              0
  18  ShowerDoor         -0.923         1.032          1.155          0              0              0
  19  Sink               0.495          0.661          2.756          0              270            0
  20  Drawer             0.443          0.624          2.193          0              0              0
  21  Faucet             0.717          0.982          2.756          0              0              0
  22  Mirror             0.629          1.532          2.697          0              0              0
  23  ShowerGlass        -0.152         1.266          1.156          0              0              0
  24  CounterTop         0.458          0.789          2.759          0              0              0
  25  Drawer             0.443          0.323          2.566          0              0              0
  26  Drawer             0.443          0.323          2.937          0              0              0
  27  Drawer             0.443          0.323          3.310          0              0              0
  28  TowelHolder        0.716          1.361          0.583          0              270            0
  29  TowelHolder        -0.442         1.361          1.175          0              0              0
  30  LightSwitch        -1.749         1.429          3.325          0              90             0
  31  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  32  GarbageCan         0.412          -0.029         3.728          0              0              0
  33  SinkBasin          0.440          0.667          2.746          0              270            0
  34  HandTowelHolder    0.673          1.613          1.891          0              180            0
  35  HandTowelHolder    0.673          1.613          3.563          0              180            0
  36  Toilet             0.270          0.000          1.463          0              0              0
  37  ShowerHead         -1.705         1.894          0.587          0              270            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn right and walk to the toilet then turn left. | STEP 2: Pick up the cloth that's on the back of the toilet. | STEP 3: Take a step backwards. | STEP 4: Put the cloth in the second drawer from the left on the bottom row. | END