Task: Clean off a towel in the tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.901          2.25           0              270            0
   1  Cloth              -2.962         0.811          0.279          0              0              0              28
   2  Cloth              -3.653         0.190          1.273          0              270            0              42
   3  Candle             -3.280         0.544          0.820          0              0              0              20
   4  HandTowel          -0.034         1.537          2.309          0              90             0              37
   5  HandTowel          -0.034         1.537          1.542          0              90             0              38
   6  Towel              -1.513         1.496          0.109          0              0              0              32
   7  Cloth              -0.348         0.811          3.000          0              0              0              31
   8  SoapBar            -0.470         0.518          3.030          0              0              0              25
   9  ToiletPaper        -2.286         0.825          3.221          0              180            270            43
  10  Plunger            -2.530         0.000          3.026          0              0              0
  11  Candle             -0.147         0.518          2.894          0              0              0              21
  12  SoapBottle         -0.309         0.219          2.638          0              0              0              19
  13  ToiletPaper        -1.767         0.014          0.137          0              0              0              34
  14  SprayBottle        -0.284         0.813          2.740          0              0              0              31
  15  ScrubBrush         -2.332         0.000          3.163          0              0              0
  16  Drawer             -0.325         0.319          2.155          0              0              0
  17  Mirror             0.0            1.473          1.917          0              270            0
  18  Drawer             -0.325         0.319          1.717          0              0              0
  19  Drawer             -0.325         0.319          2.592          0              0              0
  20  Bathtub            -3.589         0.107          1.521          0              0              0
  21  Drawer             -0.325         0.619          2.592          0              0              0
  22  Drawer             -2.249         0.319          0.280          0              0              0
  23  Drawer             -0.325         0.319          3.030          0              0              0
  24  Mirror             0.0            1.473          2.700          0              270            0
  25  Drawer             -0.325         0.619          3.030          0              0              0
  26  ShowerGlass        -0.494         1.490          0.528          0              0              0
  27  Sink               -2.539         0.661          0.252          0              0              0
  28  CounterTop         -2.540         0.805          0.280          0              0              0
  29  Drawer             -2.844         0.319          0.280          0              0              0
  30  ShowerDoor         -1.074         1.033          0.519          0              0              0
  31  CounterTop         -0.277         0.785          1.931          0              0              0
  32  TowelHolder        -1.513         1.481          0.002          0              0              0
  33  LightSwitch        -0.776         1.371          3.300          0              180            0
  34  GarbageCan         -1.754         0.001          0.227          0              0              0
  35  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  36  HandTowelHolder    0.004          1.639          3.105          0              180            0
  37  HandTowelHolder    0.004          1.639          2.309          0              180            0
  38  HandTowelHolder    0.004          1.639          1.542          0              180            0
  39  Window             -4.127         1.519          1.495          90             270            0
  40  Toilet             -2.842         0.000          2.755          0              180            0
  41  SinkBasin          -2.542         0.706          0.269          0              0              0
  42  BathtubBasin       -3.606         0.182          1.536          0              270            0
  43  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  44  Faucet             -2.540         0.794          0.111          0              0              0
  45  Faucet             -0.111         0.794          1.921          0              270            0
  46  ShowerHead         -3.612         1.776          2.299          0              0              0
  47  ShowerHead         -0.079         1.151          0.662          0              0              0
  48  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  49  Sink               -0.260         0.661          1.922          0              270            0
  50  SinkBasin          -0.277         0.706          1.920          0              270            0
  51  NorthWall
  52  SouthWall
  53  SouthWall

Plan:
STEP 1: Walk to the tub with a towel in it. | STEP 2: Grab the towel from the tub. | STEP 3: Walk to the kitchen sink on your left. | STEP 4: Soak the towel in the sink to clean it. | STEP 5: Walk back to the tub. | STEP 6: Place the towel in the tub. | END