Task: Place a green and white rag on top of a dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          0.0            0              90             0
   1  CD              -2.240         0.058          -1.795         0              77.664         0              25
   2  CellPhone       -0.200         0.975          -1.484         0              270            0              34
   3  Pen             2.160          0.571          1.517          312.886        180            0              32
   4  Pen             0.402          0.976          -1.631         0              270            0              34
   5  Pencil          -0.394         0.803          -1.655         0              270            0              38
   6  CreditCard      0.604          0.970          -1.705         0              270            0              34
   7  KeyChain        0.675          0.606          -1.825         0              0              0              39
   8  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   9  Book            -0.581         0.038          -1.711         0              270            0              35
  10  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  11  CellPhone       2.125          0.473          1.301          0              0              0              31
  12  Pencil          -0.303         0.609          -1.769         0              270            0              33
  13  AlarmClock      0.000          0.972          -1.631         0              270            0              34
  14  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  15  CreditCard      0.201          0.972          -1.484         0              270            0              34
  16  KeyChain        -0.579         0.411          -1.712         0              270            0              37
  17  Pillow          2.11           0.422          0.331          0              270            0              44
  18  Pillow          1.392          0.477          -0.247         0              0              0              44
  19  Laptop          1.392          0.413          0.252          0              0              0              44
  20  Bowl            0.471          0.965          -1.856         0              0              0              34
  21  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  22  CD              2.208          0.469          1.301          0              0              0              31
  23  Pen             -0.394         0.415          -1.769         0              270            0              37
  24  DeskLamp        2.302          0.561          1.435          0              315            0
  25  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  26  Poster          2.439          1.508          0.014          90             270            0
  27  LightSwitch     -2.457         1.274          -0.096         0              90             0
  28  Mirror          2.454          1.322          -1.414         0              90             0
  29  Window          -1.440         1.815          -2.354         90             0              0
  30  Window          1.401          1.815          -2.354         90             0              0
  31  Drawer          2.251          0.468          1.333          0              270            0
  32  SideTable       2.243          -0.001         1.331          0              270            0
  33  Drawer          -0.385         0.681          -1.631         0              0              0
  34  Dresser         0.011          0.001          -1.676         0              0              0
  35  Drawer          -0.385         0.105          -1.631         0              0              0
  36  Drawer          0.408          0.868          -1.632         0              0              0
  37  Drawer          -0.385         0.487          -1.631         0              0              0
  38  Drawer          -0.385         0.868          -1.632         0              0              0
  39  Drawer          0.408          0.681          -1.631         0              0              0
  40  Drawer          0.408          0.105          -1.631         0              0              0
  41  Drawer          0.408          0.292          -1.631         0              0              0
  42  Drawer          -0.385         0.292          -1.631         0              0              0
  43  Drawer          0.408          0.487          -1.631         0              0              0
  44  Bed             1.377          0.004          0.072          0              90             0
  45  Blinds          1.422          3.115          -2.339         0              0              0
  46  Blinds          -1.422         3.115          -2.339         0              0              0
  47  Safe            1.640          0.000          -2.040         0              355.244        0
  48  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn to the right twice and take a step and turn to the left and go to the window | STEP 2: pick up the green rag from the floor | STEP 3: turn to the left twice and take a few steps and turn to the right and go to the middle of the dresser and turn right facing the dresser | STEP 4: place the green rag on top of the dresser next to the right credit card | STEP 5: turn to the right and take a few steps and turn to the left and go to the window | STEP 6: pick up the white rag from the floor | STEP 7: turn to the left twice and take a few steps and turn to the right and go to the middle of the dresser and turn right facing the dresser | STEP 8: place the white rag on top of the dresser next to the left credit card | END