Task: Moving two rags from the floor to the dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -1.5           0              180            0
   1  CD              -0.207         0.799          -1.711         0              270            0              40
   2  CellPhone       -0.394         0.039          -1.598         0              270            0              37
   3  Pen             -0.395         0.611          -1.544         0              270            0              35
   4  Pen             0.201          0.976          -1.926         0              0              0              36
   5  Pencil          2.160          0.570          1.512          0              180            0              34
   6  CreditCard      2.068          0.572          1.457          0              180            0              34
   7  KeyChain        0.584          0.217          -1.768         0              270            0              43
   8  KeyChain        0.604          0.973          -1.557         0              0              0              36
   9  Laptop          1.640          0.413          -0.247         0              0              0              46
  10  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  11  Book            0.398          0.038          -1.711         0              270            0              42
  12  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  13  CellPhone       0.212          0.220          -1.600         0              270            0              43
  14  Pencil          -0.487         0.803          -1.542         0              270            0              40
  15  AlarmClock      0.000          0.972          -1.557         0              270            0              36
  16  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  17  CreditCard      2.344          0.570          1.240          0              180            0              34
  18  KeyChain        0.402          0.971          -1.484         0              270            0              36
  19  Pillow          0.649          0.477          0.086          0              0              0              46
  20  Pillow          2.15           0.433          -0.241         0              282.078        0              46
  21  Laptop          -0.5           0.965          -1.715         0              24.156         0              36
  22  Bowl            0.471          0.965          -1.856         0              0              0              36
  23  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  24  CD              -0.303         0.605          -1.544         0              270            0              35
  25  Pen             -0.487         0.805          -1.711         0              270            0              40
  26  DeskLamp        2.302          0.561          1.435          0              315            0
  27  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  28  Poster          2.439          1.508          0.014          90             270            0
  29  LightSwitch     -2.457         1.274          -0.096         0              90             0
  30  Mirror          2.454          1.322          -1.414         0              90             0
  31  Window          -1.440         1.815          -2.354         90             0              0
  32  Window          1.401          1.815          -2.354         90             0              0
  33  Drawer          2.251          0.468          1.333          0              270            0
  34  SideTable       2.243          -0.001         1.331          0              270            0
  35  Drawer          -0.385         0.681          -1.631         0              0              0
  36  Dresser         0.011          0.001          -1.676         0              0              0
  37  Drawer          -0.385         0.105          -1.631         0              0              0
  38  Drawer          0.408          0.868          -1.632         0              0              0
  39  Drawer          -0.385         0.487          -1.631         0              0              0
  40  Drawer          -0.385         0.868          -1.632         0              0              0
  41  Drawer          0.408          0.681          -1.631         0              0              0
  42  Drawer          0.408          0.105          -1.631         0              0              0
  43  Drawer          0.408          0.292          -1.631         0              0              0
  44  Drawer          -0.385         0.292          -1.631         0              0              0
  45  Drawer          0.408          0.487          -1.631         0              0              0
  46  Bed             1.377          0.004          0.072          0              90             0
  47  Blinds          1.422          3.115          -2.339         0              0              0
  48  Blinds          -1.422         3.115          -2.339         0              0              0
  49  Safe            1.640          0.000          -2.040         0              355.244        0
  50  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Move forward slightly to the trash  | STEP 2: Pick up the white rag below the green rag | STEP 3: Move to the left and go to the front of the dresser | STEP 4: Put the rag on the counter | STEP 5: Turn to the right and go to the window | STEP 6: Pick up the green rag from the floor | STEP 7: Turn left and move around to the front of the dresser | STEP 8: Put the green rag down to the left of the white rag and on top of the keys | END