Task: Pick up two rags and place in the vanity 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          0.902          2.5            0              270            0
   1  Cloth              -2.217         0.586          0.835          0              0              0              24
   2  SoapBar            0.562          0.254          1.383          0              0              0              28
   3  SoapBar            -2.493         1.046          1.494          0              90             0              37
   4  ToiletPaper        0.521          0.251          1.793          0              0              0              28
   5  HandTowel          1.033          1.671          3.127          0              90             0              34
   6  Towel              0.931          1.193          0.495          0              270            0              29
   7  SoapBar            -2.585         1.046          1.691          0              90             0              37
   8  ToiletPaper        0.855          0.110          3.04           0              0              0              36
   9  SoapBottle         0.809          0.742          2.329          0              0              0              21
  10  ToiletPaper        -2.626         0.790          1.235          0              90             270            31
  11  ScrubBrush         -2.557         0.001          2.200          0              0              0
  12  Plunger            -2.568         0.000          1.992          0              0              0
  13  Cloth              0.734          0.742          1.369          0              0              0              21
  14  Candle             0.562          0.252          1.691          0              0              0              18
  15  SprayBottle        0.731          0.115          3.063          0              0              0              36
  16  Window             -2.808         0.962          0.514          0              0              0
  17  Bathtub            -1.062         0.300          0.427          0              0              0
  18  Drawer             0.409          0.551          1.486          0              0              0
  19  Mirror             0.986          1.676          1.896          0              0              0
  20  ShowerDoor         -2.671         1.001          2.797          0              0              0
  21  CounterTop         0.732          0.697          1.955          0              0              0
  22  Drawer             0.409          0.314          2.420          0              0              0
  23  ShowerGlass        -1.713         1.276          3.298          0              0              0
  24  CounterTop         -0.298         0.157          0.531          0              0              0
  25  Sink               0.812          0.703          1.920          0              270            0
  26  Drawer             0.409          0.551          2.420          0              0              0
  27  Window             -0.957         1.563          -0.059         0              0              0
  28  Drawer             0.409          0.314          1.486          0              0              0
  29  TowelHolder        1.038          1.179          0.495          0              270            0
  30  TowelHolder        0.474          1.168          0.027          0              0              0
  31  ToiletPaperHanger  -2.695         0.929          1.200          0              90             0
  32  SinkBasin          0.720          0.812          1.896          349.201        270            0
  33  BathtubBasin       -0.721         0.171          0.479          0              0              0
  34  HandTowelHolder    1.071          1.773          3.127          0              180            0
  35  LightSwitch        0.220          1.416          3.998          0              180            0
  36  GarbageCan         0.713          -0.028         3.110          0              0              0
  37  Toilet             -2.232         0.001          1.628          0              180            0
  38  ShowerHead         -2.619         1.819          3.361          0              270            0
  39  Faucet             1.047          1.036          1.921          0              0              0
  40  Faucet             0.318          0.631          0.479          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn left, step forward to the bath tub, turn right and to the toilet. | STEP 2: Pick up the red rag on the left side. | STEP 3: Turn right, step forward, turn right and walk to the vanity. | STEP 4: Open the drawer under the vanity, place the rag inside, close the drawer. | STEP 5: Step forward to the vanity to get closer. | STEP 6: Pick up the red rag to the right of the sink. | STEP 7: Turn around, step forward, then turn around to face the vanity. | STEP 8: Open the vanity drawer and put the red rag inside, close the drawer. | END