Task: put a towel into a garbage can

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          2.75           0              180            0
   1  Cloth              -1.529         0.243          2.400          0              0              0              20
   2  Cloth              -1.488         0.244          2.928          0              0              0              17
   3  SoapBar            -1.629         0.731          2.977          0              0              0              18
   4  SoapBar            -1.674         0.641          3.279          0              270            0              34
   5  SprayBottle        -1.670         0.043          1.298          0              180            0              29
   6  Candle             -1.798         1.087          0.616          0              90             0              32
   7  HandTowel          -1.961         1.588          1.323          0              270            0              25
   8  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
   9  Towel              0.871          1.172          2.356          0              0              0              23
  10  SoapBottle         -1.715         0.731          2.827          0              0              0              18
  11  SoapBar            -1.621         0.641          2.321          0              270            0              31
  12  ToiletPaper        -1.553         0.624          0.053          0              0              270            28
  13  Cloth              -1.529         0.244          3.195          0              0              0              17
  14  ToiletPaper        -1.446         0.236          2.132          0              0              0              20
  15  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  16  SprayBottle        -1.848         1.047          0.813          0              90             0              32
  17  Drawer             -1.335         0.301          3.329          0              0              0
  18  CounterTop         -1.608         0.701          2.831          0              0              0
  19  ShowerDoor         0.564          1.018          1.115          0              0              0
  20  Drawer             -1.335         0.301          2.132          0              0              0
  21  Mirror             -1.924         1.414          2.759          0              0              0
  22  Sink               -1.695         0.616          2.283          0              90             0
  23  TowelHolder        0.870          1.157          2.25           0              0              0
  24  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  25  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  26  Window             -1.037         1.399          0.019          90             0              0
  27  Window             -1.986         1.396          0.707          90             90             0
  28  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  29  GarbageCan         -1.739         -0.031         1.268          0              90             0
  30  LightSwitch        1.25           1.273          3.634          0              270            0
  31  SinkBasin          -1.674         0.633          2.274          0              270            0
  32  Toilet             -1.547         0.000          0.685          0              180            0
  33  Sink               -1.695         0.616          3.365          0              90             0
  34  SinkBasin          -1.674         0.633          3.355          0              270            0
  35  ShowerHead         0.853          1.797          1.108          0              180            0
  36  Faucet             -1.926         0.721          2.285          0              90             0
  37  Faucet             -1.926         0.721          3.368          0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: walk to face towel rack above and to the right of the toilet | STEP 2: pick up the towel from the towel rack | STEP 3: walk back to face the toilet | STEP 4: put the towel into the garbage can to the right of the toilet | END