Task: Remove two towels from wall and place on back of toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          2.0            0              90             0
   1  SoapBar            0.440          0.676          2.703          0              270            0              34
   2  SprayBottle        0.455          0.820          2.271          0              0              0              25
   3  SprayBottle        0.563          1.046          1.336          0              270            0              37
   4  HandTowel          0.634          1.512          3.564          0              90             0              36
   5  ToiletPaper        0.558          0.208          2.155          0              0              0              18
   6  SoapBottle         0.624          1.052          1.533          0              270            0              37
   7  HandTowel          0.634          1.512          1.892          0              90             0              35
   8  Towel              -0.442         1.375          1.282          0              0              0              30
   9  SoapBar            0.334          0.210          3.231          0              0              0              28
  10  ToiletPaper        0.278          0.208          2.236          0              0              0              18
  11  ToiletPaper        0.655          1.041          1.401          0              270            0              37
  12  Candle             0.588          0.821          2.271          0              0              0              25
  13  ScrubBrush         0.553          0.000          1.725          0              0              0
  14  Cloth              0.323          0.824          2.106          0              0              0              25
  15  Plunger            0.594          -0.000         1.898          0              0              0
  16  SprayBottle        0.536          0.208          3.803          0              0              0              33
  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: Proceed ahead to counter. | STEP 2: Remove towel from towel holder to the right of the mirror. | STEP 3: Turn left, proceed to sink on right.  Turn right to face sink and counter. | STEP 4: Put the towel on the left portion of the back of the toilet, to the left of pump dispenser. | STEP 5: Turn left, move to end of counter.  Turn right to face towel hanging. | STEP 6: Pick up towel hanging on wall. | STEP 7: Turn right, go to end of counter past sink.  Turn left to face counter area. | STEP 8: Place towel on back of towel, directly to the right of the other towel. | END