Task: The robot needs to get a towel from each towel rack then place them on the toilet tank.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.901          -3.25          0              180            0
   1  Cloth              -2.764         0.066          -3.506         0              0              0              23
   2  Cloth              -2.538         0.066          -3.023         0              0              0              18
   3  SoapBar            -2.637         0.872          -3.067         0              90             0              31
   4  Candle             -2.613         0.075          -3.568         0              0              0              23
   5  SprayBottle        -2.613         0.067          -3.506         0              0              0              23
   6  HandTowel          -2.962         1.584          -2.569         0              270            0              29
   7  Candle             -0.099         1.054          -3.114         0              270            0              34
   8  Cloth              -2.620         0.806          -3.765         0              0              0              25
   9  HandTowel          -2.962         1.584          -3.550         0              270            0              28
  10  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
  11  SoapBar            -2.462         0.066          -3.755         0              0              0              23
  12  ToiletPaper        -0.093         0.842          -2.618         0              270            270            27
  13  ToiletPaper        -0.190         1.042          -2.917         0              270            0              34
  14  Towel              -1.291         1.386          -0.63          0              270            0              26
  15  SoapBottle         -2.443         0.808          -2.525         0              0              0              25
  16  SprayBottle        -0.129         1.046          -3.048         0              270            0              34
  17  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  18  Cabinet            -2.293         0.324          -3.254         0              0              0
  19  Mirror             -3.0           1.659          -3.069         0              0              0
  20  Sink               -2.661         0.785          -3.069         0              90             0
  21  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  22  Cabinet            -2.299         0.345          -2.250         0              0              0
  23  Cabinet            -2.293         0.324          -3.814         0              0              0
  24  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  25  CounterTop         -2.632         0.843          -3.040         0              0              0
  26  TowelHolder        -1.184         1.371          -0.629         0              270            0
  27  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  28  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  29  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  30  Window             -0.567         1.706          -4.002         90             0              0
  31  SinkBasin          -2.669         0.863          -3.063         0              90             0
  32  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  33  LightSwitch        -1.945         1.503          0.000          0              180            0
  34  Toilet             -0.452         0.000          -3.052         0              0              0
  35  Faucet             -3.0           1.167          -3.073         0              180            0
  36  ShowerHead         -0.614         1.934          -0.013         0              0              0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: Turn right towards the sink. | STEP 2: Remove the towel from the towel rack to the left of the mirror. | STEP 3: Turn around and move towards the toilet. | STEP 4: Place the towel on the left side of the toilet tank. | STEP 5: Turn around and move towards the sink. | STEP 6: Remove the towel from the towel rack to the right of the mirror. | STEP 7: Turn around and move towards the toilet. | STEP 8: Place the towel on the right side of the other towel.  | END