Task: Move two towels from the wall behind the sink to the back of the toilet

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          -3.75          0              0              0
   1  Cloth              -2.764         0.066          -3.568         0              0              0              24
   2  Cloth              -2.708         0.806          -3.532         0              0              0              26
   3  SoapBar            -2.355         0.806          -2.263         0              0              0              26
   4  SoapBottle         -0.068         1.047          -3.048         0              270            0              35
   5  SoapBottle         -2.708         0.808          -3.707         0              0              0              26
   6  HandTowel          -2.962         1.584          -2.569         0              270            0              30
   7  ToiletPaper        -2.613         0.063          -3.081         0              0              0              19
   8  Candle             -0.190         1.054          -3.048         0              270            0              35
   9  Cloth              -2.688         0.066          -2.494         0              0              0              23
  10  HandTowel          -2.962         1.584          -3.550         0              270            0              29
  11  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  12  SoapBar            -0.160         1.045          -2.983         0              270            0              35
  13  ToiletPaper        -2.689         0.063          -3.382         0              0              0              24
  14  ToiletPaper        -2.355         0.803          -3.765         0              0              0              26
  15  Towel              -1.291         1.386          -0.63          0              270            0              27
  16  SoapBottle         -2.839         0.068          -3.198         0              0              0              19
  17  SprayBottle        -2.387         0.067          -2.494         0              0              0              23
  18  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  19  Cabinet            -2.293         0.324          -3.254         0              0              0
  20  Mirror             -3.0           1.659          -3.069         0              0              0
  21  Sink               -2.661         0.785          -3.069         0              90             0
  22  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  23  Cabinet            -2.299         0.345          -2.250         0              0              0
  24  Cabinet            -2.293         0.324          -3.814         0              0              0
  25  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  26  CounterTop         -2.632         0.843          -3.040         0              0              0
  27  TowelHolder        -1.184         1.371          -0.629         0              270            0
  28  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  29  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  30  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  31  Window             -0.567         1.706          -4.002         90             0              0
  32  SinkBasin          -2.669         0.863          -3.063         0              90             0
  33  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  34  LightSwitch        -1.945         1.503          0.000          0              180            0
  35  Toilet             -0.452         0.000          -3.052         0              0              0
  36  Faucet             -3.0           1.167          -3.073         0              180            0
  37  ShowerHead         -0.614         1.934          -0.013         0              0              0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: Turn to your left and stand in front of the left side of the sink. | STEP 2: Take the towel from its holder hanging on the wall to the left of the mirror. | STEP 3: Turn around to face the side of the toilet nearest the shower.  | STEP 4: Place the towel on the left side of the back of the toilet nearest the flusher handle. | STEP 5: Turn around and walk to the towel rack to the right of the sink. | STEP 6: Remove the towel from the rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel on the end of the back of the toilet to the right of the soap dispenser. | END