Task: Take the towel from the cabinet to put it in the tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.900          -1.0           0              0              0
   1  Candle             -1.994         1.042          0.206          0              90             0              39
   2  SprayBottle        -0.254         0.018          -1.638         0              0              0              24
   3  SprayBottle        -1.901         0.017          -1.435         0              0              0              27
   4  SoapBottle         -0.254         0.019          -1.435         0              90             0              24
   5  SoapBottle         -0.371         0.019          -1.486         0              0              0              24
   6  Towel              0.89           1.368          -1.755         0              0              0              31
   7  HandTowel          -2.028         1.492          -1.482         0              270            0              37
   8  SoapBar            -0.196         0.017          -1.536         0              0              0              24
   9  ToiletPaper        -1.199         0.919          0.680          0              180            270            32
  10  ToiletPaper        -1.894         1.037          0.023          1.050          0              358.837        39
  11  Cloth              -1.411         0.018          -1.486         0              0              0              17
  12  SprayBottle        -1.963         1.045          0.403          0              90             0              39
  13  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  14  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  15  Candle             -0.686         0.015          -1.588         0              0              0              18
  16  SoapBottle         -1.933         1.046          0.206          0              90             0              39
  17  Cabinet            -1.052         0.340          -1.327         0              0              0
  18  Cabinet            -1.039         0.340          -1.327         0              0              0
  19  ShowerGlass        0.919          1.417          -0.206         0              0              0
  20  Sink               -1.560         0.811          -1.598         0              0              0
  21  CounterTop         -1.041         0.884          -1.531         0              0              0
  22  ShowerDoor         0.451          0.926          0.696          0              0              0
  23  Faucet             -0.505         0.898          -1.779         0              0              0
  24  Cabinet            -0.071         0.340          -1.327         0              0              0
  25  Mirror             -1.014         1.501          -1.840         0              0              0
  26  Bathtub            0.883          0.392          -1.154         0              0              0
  27  Cabinet            -2.020         0.340          -1.327         0              0              0
  28  Sink               -0.526         0.811          -1.598         0              0              0
  29  Window             1.532          1.672          -1.037         0              0              0
  30  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  31  TowelHolder        0.889          1.353          -1.861         0              0              0
  32  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  33  LightSwitch        0.224          1.333          0.762          0              180            0
  34  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  35  BathtubBasin       0.938          0.160          -1.126         0              270            0
  36  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  37  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  38  GarbageCan         0.122          -0.002         -1.558         0              270            0
  39  Toilet             -1.610         -0.000         0.209          0              180            0
  40  Faucet             -1.537         0.898          -1.779         0              0              0
  41  Faucet             0.929          0.509          -1.978         0              0              0
  42  Faucet             0.890          1.689          0.724          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and face the sink. | STEP 2: Open the left door of the cabinet below the sink to take out a black towel. | STEP 3: Turn left and walk towards the bath tub. | STEP 4: Place the towel in the tub. | END