Task: Put a towel in the green bin.

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          -1.25          0              270            0
   1  Cloth              -1.013         0.291          -2.402         0              0              0              34
   2  SprayBottle        -2.276         1.046          -0.361         0              90             0              36
   3  Candle             -0.125         0.917          -1.380         0              0              0              23
   4  Candle             -2.276         1.086          -0.164         0              90             0              36
   5  SoapBar            -2.188         0.913          -1.381         0              90             0              33
   6  SoapBar            -2.160         0.913          -1.645         0              90             0              33
   7  SoapBottle         -2.306         1.045          -0.558         0              90             0              36
   8  Towel              -0.106         1.541          -2.487         0              270            0              28
   9  ToiletPaper        -0.125         0.872          -1.461         0              0              0              23
  10  Towel              -2.424         1.541          -2.487         0              90             0              27
  11  Candle             -0.202         0.917          -1.461         0              0              0              23
  12  HandTowel          -2.496         1.836          -0.907         0              270            0              31
  13  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  14  SoapBottle         -2.429         1.045          -0.295         0              90             0              36
  15  SoapBar            -0.202         0.876          -1.219         0              0              0              23
  16  ToiletPaper        -2.402         1.036          -0.173         0              0              0              36
  17  Cloth              -0.501         0.291          -2.574         0              0              0              34
  18  ToiletPaper        -1.490         1.049          -0.110         0              180            90             30
  19  SprayBottle        -0.086         0.877          -1.300         0              0              0              23
  20  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  21  Bathtub            -1.281         0.277          -2.529         0              0              0
  22  Mirror             -2.512         1.764          -1.518         0              0              0
  23  SideTable          -0.153         0.000          -1.465         0              270            0
  24  Sink               -2.273         0.0            -1.519         0              90             0
  25  Drawer             -0.218         0.775          -1.466         0              270            0
  26  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  27  TowelHolder        -2.530         1.526          -2.486         0              90             0
  28  TowelHolder        0.0            1.526          -2.486         0              270            0
  29  LightSwitch        0.0            1.324          -1.146         0              270            0
  30  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  31  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  32  Window             -1.291         1.815          -3.121         90             0              0
  33  SinkBasin          -2.216         0.905          -1.503         0              90             0
  34  SinkBasin          -1.305         0.280          -2.516         0              0              0
  35  HousePlant         -0.108         0.870          -1.649         0              0              0
  36  Toilet             -2.045         0.000          -0.358         0              180            0
  37  Faucet             -2.446         0.940          -1.516         0              90             0
  38  Faucet             -0.132         0.706          -2.877         0              29.999         0
  39  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: Go to the small space between the sink and the toilet, straight ahead of you.  | STEP 2: Pull down the hand towel, hanging from the towel holder on the wall. | STEP 3: Step back from the wall so that you are in front of the green bin on the floor.  | STEP 4: Place the towel in the green bin on the floor, between the sink and toilet.  | END