Task: Place two towels on 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           2.0            0.901          -1.5           0              0              0
   1  CD              -0.300         0.036          -1.768         0              270            0              39
   2  CellPhone       1.887          0.418          0.585          0              0              0              48
   3  CellPhone       1.645          0.043          -2.025         0              88.075         0              51
   4  Pencil          -2.171         0.058          -1.780         0              77.664         0              29
   5  CreditCard      -0.401         0.970          -1.778         0              270            0              38
   6  CreditCard      0.000          0.970          -1.631         0              270            0              38
   7  KeyChain        -0.486         0.217          -1.600         0              270            0              46
   8  Book            1.640          0.417          -0.413         0              0              0              48
   9  AlarmClock      -0.200         0.972          -1.778         0              270            0              38
  10  AlarmClock      -0.602         0.971          -1.852         0              270            0              38
  11  Laptop          1.392          0.413          -0.080         0              0              0              48
  12  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  13  Book            -0.602         0.972          -1.557         0              270            0              38
  14  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  15  CellPhone       0.897          0.418          0.585          0              0              0              48
  16  Pencil          0.000          0.975          -1.705         0              270            0              38
  17  AlarmClock      -0.401         0.971          -1.631         0              270            0              38
  18  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  19  CreditCard      0.305          0.605          -1.825         0              270            0              43
  20  KeyChain        -0.487         0.801          -1.711         0              270            0              42
  21  Pillow          2.11           0.422          0.331          0              270            0              48
  22  Pillow          2.15           0.433          -0.241         0              282.078        0              48
  23  Laptop          0.897          0.413          0.252          0              0              0              48
  24  Bowl            0.201          0.973          -1.557         0              270            0              38
  25  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  26  CD              0.117          0.036          -1.542         0              270            0              44
  27  Pen             0.604          0.976          -1.778         0              270            0              38
  28  DeskLamp        2.302          0.561          1.435          0              315            0
  29  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  30  Poster          2.439          1.508          0.014          90             270            0
  31  LightSwitch     -2.457         1.274          -0.096         0              90             0
  32  Mirror          2.454          1.322          -1.414         0              90             0
  33  Window          -1.440         1.815          -2.354         90             0              0
  34  Window          1.401          1.815          -2.354         90             0              0
  35  Drawer          2.251          0.468          1.333          0              270            0
  36  SideTable       2.243          -0.001         1.331          0              270            0
  37  Drawer          -0.385         0.681          -1.631         0              0              0
  38  Dresser         0.011          0.001          -1.676         0              0              0
  39  Drawer          -0.385         0.105          -1.631         0              0              0
  40  Drawer          0.408          0.868          -1.632         0              0              0
  41  Drawer          -0.385         0.487          -1.631         0              0              0
  42  Drawer          -0.385         0.868          -1.632         0              0              0
  43  Drawer          0.408          0.681          -1.631         0              0              0
  44  Drawer          0.408          0.105          -1.631         0              0              0
  45  Drawer          0.408          0.292          -1.631         0              0              0
  46  Drawer          -0.385         0.292          -1.631         0              0              0
  47  Drawer          0.408          0.487          -1.631         0              0              0
  48  Bed             1.377          0.004          0.072          0              90             0
  49  Blinds          1.422          3.115          -2.339         0              0              0
  50  Blinds          -1.422         3.115          -2.339         0              0              0
  51  Safe            1.640          0.000          -2.040         0              355.244        0
  52  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn left at the bed and hang a left just before the wall to face the window. | STEP 2: Pick up the white towel on the floor in between the green towel and the brown container. | STEP 3: Turn around, hang a right around the dresser and turn right at the edge of the bed to face the dresser. | STEP 4: Put the white towel on top of the dresser next to the clear bowl. | STEP 5: Turn right and hang a left just before the wall to face the window. | STEP 6: Pick up the green towel on the floor to the left of the brown container. | STEP 7: Turn around, hang a right around the dresser and turn right at the edge of the bed to face the dresser. | STEP 8: Put the green towel on top of the dresser to the right of the clear bowl. | END