Task: put two towels on the back of the toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          1.75           0              270            0
   1  SoapBar            0.356          0.676          2.855          0              270            0              34
   2  Candle             0.323          0.821          2.271          0              0              0              25
   3  Candle             0.334          0.212          3.060          0              0              0              28
   4  SprayBottle        0.389          0.820          3.239          0              0              0              25
   5  HandTowel          0.634          1.512          3.564          0              90             0              36
   6  SoapBottle         0.596          0.809          3.415          0              225            0              25
   7  HandTowel          0.634          1.512          1.892          0              90             0              35
   8  Towel              0.609          1.376          0.583          0              270            0              29
   9  SoapBar            0.481          0.676          2.855          0              270            0              34
  10  ToiletPaper        0.361          0.504          2.174          0              0              0              21
  11  ToiletPaper        0.334          0.207          3.231          0              0              0              27
  12  Candle             0.455          0.821          2.106          0              0              0              25
  13  ScrubBrush         0.553          0.000          1.725          0              0              0
  14  Cloth              0.446          0.215          3.271          0              90             0              28
  15  Plunger            0.594          -0.000         1.898          0              0              0
  16  SprayBottle        0.257          0.820          3.239          0              0              0              25
  17  Drawer             0.443          0.624          3.310          0              0              0
  18  Drawer             0.443          0.323          2.194          0              0              0
  19  ShowerDoor         -0.923         1.032          1.155          0              0              0
  20  Sink               0.495          0.661          2.756          0              270            0
  21  Drawer             0.443          0.624          2.193          0              0              0
  22  Faucet             0.717          0.982          2.756          0              0              0
  23  Mirror             0.629          1.532          2.697          0              0              0
  24  ShowerGlass        -0.152         1.266          1.156          0              0              0
  25  CounterTop         0.458          0.789          2.759          0              0              0
  26  Drawer             0.443          0.323          2.566          0              0              0
  27  Drawer             0.443          0.323          2.937          0              0              0
  28  Drawer             0.443          0.323          3.310          0              0              0
  29  TowelHolder        0.716          1.361          0.583          0              270            0
  30  TowelHolder        -0.442         1.361          1.175          0              0              0
  31  LightSwitch        -1.749         1.429          3.325          0              90             0
  32  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  33  GarbageCan         0.412          -0.029         3.728          0              0              0
  34  SinkBasin          0.440          0.667          2.746          0              270            0
  35  HandTowelHolder    0.673          1.613          1.891          0              180            0
  36  HandTowelHolder    0.673          1.613          3.563          0              180            0
  37  Toilet             0.270          0.000          1.463          0              0              0
  38  ShowerHead         -1.705         1.894          0.587          0              270            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: go to the sink | STEP 2: take the towel from the rack | STEP 3: approach the toilet | STEP 4: stand the towel on the back of the toilet | STEP 5: go to the left of the sink | STEP 6: take the towel from the rack above | STEP 7: take the towel to the toilet | STEP 8: stand the towel to the right of of the first towel on the back of the toilet | END