Task: Put 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              -2.0           0.900          3.0            0              0              0
   1  TissueBox          -3.828         0.541          0.925          0              90             0              38
   2  TissueBox          -3.540         0.541          1.477          0              90             0              23
   3  Cloth              -3.828         0.541          0.741          0              90             0              38
   4  Candle             -3.637         0.685          3.944          0              270            0              23
   5  Candle             -1.846         0.046          4.708          0              0              0              30
   6  SoapBottle         -0.394         0.044          4.946          0              0              0              22
   7  SoapBottle         -3.597         0.546          0.557          0              90             0              38
   8  Towel              -1.719         1.228          1.846          0              0              0              35
   9  Candle             -0.102         1.053          3.157          0              270            0              42
  10  SoapBottle         -3.597         0.546          1.109          0              90             0              38
  11  HandTowel          -0.112         1.467          4.811          0              270            0              40
  12  Towel              -0.181         1.419          2.425          0              270            0              36
  13  SoapBar            -0.921         0.963          4.933          0              0              0              28
  14  ToiletPaper        -0.188         1.036          3.374          0              0              0              42
  15  TissueBox          -3.540         0.541          0.925          0              90             0              38
  16  Cloth              -3.616         0.185          3.129          0              0              0              21
  17  ToiletPaper        -3.713         0.538          1.477          0              90             0              38
  18  SprayBottle        -3.712         0.542          0.373          0              90             0              38
  19  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  20  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  21  BathtubBasin       -3.404         0.166          2.904          0              0              0
  22  Cabinet            -0.124         0.364          4.634          0              0              0
  23  Bathtub            -2.896         0.667          2.860          0              0              0
  24  Faucet             -3.475         0.711          3.811          0              0              0
  25  ShowerGlass        0.0            0.0            0.0            0              0              0
  26  ShowerDoor         -0.282         1.228          1.730          0              0              0
  27  Faucet             -1.524         1.047          5.096          0              180            0
  28  CounterTop         -1.023         0.954          4.884          0              0              0
  29  Mirror             -0.975         1.577          5.145          0              0              0
  30  Cabinet            -1.962         0.364          4.634          0              0              0
  31  Cabinet            -1.027         0.364          4.634          0              0              0
  32  Cabinet            -1.059         0.364          4.634          0              0              0
  33  Window             -1.993         1.888          0.144          0              0              0
  34  LightSwitch        -2.496         1.366          5.146          0              180            0
  35  TowelHolder        -1.720         1.213          1.740          0              0              0
  36  TowelHolder        -0.074         1.404          2.424          0              270            0
  37  GarbageCan         -2.346         0.002          4.878          0              180            0
  38  Shelf              -3.713         0.531          0.951          0              90             0
  39  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  40  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  41  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  42  Toilet             -0.517         -0.000         3.220          0              0              0
  43  ShowerHead         -0.182         1.256          0.875          0              0              0
  44  SinkBasin          -0.569         0.986          4.886          0              180            0
  45  Sink               -0.579         0.926          4.874          0              180            0
  46  Sink               -1.524         0.926          4.874          0              180            0
  47  SinkBasin          -1.514         0.986          4.886          0              180            0
  48  Faucet             -0.583         1.047          5.096          0              180            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move forward and to the right, to the right sink.  | STEP 2: Take the towel from the wall, right of the sink.  | STEP 3: Turn around, bring the towel to the tub on the right. | STEP 4: Put the towel in the tub. | END