Task: The pick up a dirty towel and wash it.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          2.5            0              270            0
   1  TissueBox          -3.655         0.541          1.293          0              90             0              39
   2  Cloth              -3.635         0.185          3.510          0              347.395        0              22
   3  Cloth              -1.229         0.040          5.006          0              0              0              33
   4  Cloth              -3.712         0.541          0.557          0              90             0              39
   5  SoapBar            -1.588         0.994          4.936          0              180            0              48
   6  Candle             -1.886         0.972          4.671          0              0              0              29
   7  Candle             -0.102         1.053          3.026          0              270            0              43
   8  Towel              -0.181         1.419          2.425          0              270            0              37
   9  HandTowel          -0.112         1.467          4.811          0              90             0              41
  10  Candle             -3.885         0.550          0.373          0              90             0              39
  11  SoapBottle         -0.861         0.042          4.887          0              0              0              32
  12  HandTowel          -2.093         1.442          5.107          0              0              0              40
  13  Towel              -1.719         1.228          1.846          0              0              0              36
  14  SoapBar            -1.696         0.037          5.006          0              0              0              31
  15  ToiletPaper        -0.188         1.036          3.374          0              0              0              43
  16  TissueBox          -3.713         0.541          1.109          0              90             0              39
  17  Cloth              -3.363         0.185          3.363          0              0              0              22
  18  ToiletPaper        -3.712         0.538          0.741          0              90             0              39
  19  SprayBottle        -0.255         1.045          3.223          0              270            0              43
  20  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  21  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  22  BathtubBasin       -3.404         0.166          2.904          0              0              0
  23  Cabinet            -0.124         0.364          4.634          0              0              0
  24  Bathtub            -2.896         0.667          2.860          0              0              0
  25  Faucet             -3.475         0.711          3.811          0              0              0
  26  ShowerGlass        0.0            0.0            0.0            0              0              0
  27  ShowerDoor         -0.282         1.228          1.730          0              0              0
  28  Faucet             -1.524         1.047          5.096          0              180            0
  29  CounterTop         -1.023         0.954          4.884          0              0              0
  30  Mirror             -0.975         1.577          5.145          0              0              0
  31  Cabinet            -1.962         0.364          4.634          0              0              0
  32  Cabinet            -1.027         0.364          4.634          0              0              0
  33  Cabinet            -1.059         0.364          4.634          0              0              0
  34  Window             -1.993         1.888          0.144          0              0              0
  35  LightSwitch        -2.496         1.366          5.146          0              180            0
  36  TowelHolder        -1.720         1.213          1.740          0              0              0
  37  TowelHolder        -0.074         1.404          2.424          0              270            0
  38  GarbageCan         -2.346         0.002          4.878          0              180            0
  39  Shelf              -3.713         0.531          0.951          0              90             0
  40  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  41  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  42  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  43  Toilet             -0.517         -0.000         3.220          0              0              0
  44  ShowerHead         -0.182         1.256          0.875          0              0              0
  45  SinkBasin          -0.569         0.986          4.886          0              180            0
  46  Sink               -0.579         0.926          4.874          0              180            0
  47  Sink               -1.524         0.926          4.874          0              180            0
  48  SinkBasin          -1.514         0.986          4.886          0              180            0
  49  Faucet             -0.583         1.047          5.096          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Go straight ahead towards the bathtub. | STEP 2: Pick up the purple towel. | STEP 3: Turn around go to the end of the room, then turn left and go to the sink. | STEP 4: Put the towel in the sink, turn on the faucet, wash the towel then pick it back up. | STEP 5: Turn Left, then go straight towards the bathtub. | STEP 6: Put the towel back in the bathtub. | END