Task: Put the towels in to 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              -2.75          0.901          0.25           0              90             0
   1  Candle             -2.855         1.043          3.987          0              0              0              31
   2  SprayBottle        -3.206         0.234          0.234          0              270            0              40
   3  DishSponge         0.386          1.048          3.297          0              270            0              36
   4  HandTowel          -3.420         1.356          0.817          0              270            0              35
   5  Towel              -2.05          1.059          -0.183         0              0              0              26
   6  HandTowel          -3.419         1.338          2.102          0              270            0              34
   7  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
   8  SoapBar            -2.855         1.296          3.942          0              0              0              30
   9  ToiletPaper        -2.480         1.540          3.849          0              0              0              32
  10  SoapBottle         -0.819         0.045          3.805          0              0              0              33
  11  ToiletPaper        -2.310         0.777          3.875          0              0              0              29
  12  Cloth              -3.150         0.235          0.000          0              270            0              40
  13  PaperTowelRoll     0.447          1.152          3.034          0              270            0              36
  14  Candle             -3.263         0.236          0.156          0              270            0              40
  15  SprayBottle        0.324          1.048          2.903          0              270            0              36
  16  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  17  DishSponge         -0.914         0.044          3.86           0              0              0              33
  18  Faucet             -0.141         0.524          -0.211         0              0              0
  19  Window             -1.507         1.322          -0.364         0              0              0
  20  Faucet             -3.401         1.017          1.531          0              90             0
  21  BathtubBasin       -0.155         0.042          0.884          0              0              0
  22  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  23  ShowerHead         -0.126         1.447          2.047          0              270            0
  24  Bathtub            -0.205         0.359          0.924          0              0              0
  25  Mirror             -3.447         1.575          1.516          0              0              0
  26  TowelHolder        -2.049         1.045          -0.290         0              0              0
  27  TowelHolder        -1.304         1.045          -0.290         0              0              0
  28  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  29  Shelf              -2.587         0.778          3.909          0              0              0
  30  Shelf              -2.587         1.287          3.941          0              0              0
  31  Shelf              -2.587         1.032          3.941          0              0              0
  32  Shelf              -2.587         1.534          3.909          0              0              0
  33  GarbageCan         0.047          -0.002         3.878          0              0              0
  34  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  35  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  36  Toilet             0.063          0.002          3.096          0              0              0
  37  LightSwitch        -3.459         1.437          2.496          0              90             0
  38  Sink               -3.115         -0.013         1.531          0              90             0
  39  SinkBasin          -3.081         0.935          1.537          0              90             0
  40  SideTable          -3.171         0.002          0.170          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn and go to the towel that is hanging on the silver towel holder on the wall to the left of the sink. | STEP 2: Take the towel off the towel holder that is to the left of the sink. | STEP 3: Turn around and with the towel go to the tub. | STEP 4: Place the towel in the center of the tub. | STEP 5: Turn and go to the towel holder that is on the wall and to the right of the sink. | STEP 6: Take the towel off of the towel holder that is to the right of the sink. | STEP 7: Turn around and with the towel go to the tub. | STEP 8: Place the towel to the right of the towel that is in the tub. | END