Task: Put a towel in the tub, left of the rags.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.25          0.900          4.25           0              0              0
   1  TissueBox          -1.279         0.040          4.828          0              0              0              30
   2  Cloth              -3.325         0.185          2.898          0              347.395        0              19
   3  Cloth              -3.770         0.541          0.925          0              90             0              36
   4  Candle             -1.842         0.972          4.671          0              0              0              26
   5  SoapBottle         -1.095         0.968          4.800          0              0              0              26
   6  SoapBottle         -3.712         0.546          0.741          0              90             0              36
   7  Candle             -0.102         1.053          3.354          0              270            0              40
   8  SoapBottle         -3.828         0.546          1.477          0              90             0              36
   9  HandTowel          -2.093         1.442          5.107          0              0              0              37
  10  Towel              -0.181         1.419          2.425          0              270            0              34
  11  SoapBar            -0.921         0.963          4.999          0              0              0              26
  12  ToiletPaper        -3.884         0.673          3.944          0              270            0              21
  13  TissueBox          -0.224         1.045          3.092          0              270            0              40
  14  Cloth              -3.208         0.185          3.151          0              347.395        0              19
  15  ToiletPaper        -1.886         0.960          4.946          0              0              0              26
  16  SprayBottle        -3.770         0.542          1.293          0              90             0              36
  17  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  18  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  19  BathtubBasin       -3.404         0.166          2.904          0              0              0
  20  Cabinet            -0.124         0.364          4.634          0              0              0
  21  Bathtub            -2.896         0.667          2.860          0              0              0
  22  Faucet             -3.475         0.711          3.811          0              0              0
  23  ShowerGlass        0.0            0.0            0.0            0              0              0
  24  ShowerDoor         -0.282         1.228          1.730          0              0              0
  25  Faucet             -1.524         1.047          5.096          0              180            0
  26  CounterTop         -1.023         0.954          4.884          0              0              0
  27  Mirror             -0.975         1.577          5.145          0              0              0
  28  Cabinet            -1.962         0.364          4.634          0              0              0
  29  Cabinet            -1.027         0.364          4.634          0              0              0
  30  Cabinet            -1.059         0.364          4.634          0              0              0
  31  Window             -1.993         1.888          0.144          0              0              0
  32  LightSwitch        -2.496         1.366          5.146          0              180            0
  33  TowelHolder        -1.720         1.213          1.740          0              0              0
  34  TowelHolder        -0.074         1.404          2.424          0              270            0
  35  GarbageCan         -2.346         0.002          4.878          0              180            0
  36  Shelf              -3.713         0.531          0.951          0              90             0
  37  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  38  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  39  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  40  Toilet             -0.517         -0.000         3.220          0              0              0
  41  ShowerHead         -0.182         1.256          0.875          0              0              0
  42  SinkBasin          -0.569         0.986          4.886          0              180            0
  43  Sink               -0.579         0.926          4.874          0              180            0
  44  Sink               -1.524         0.926          4.874          0              180            0
  45  SinkBasin          -1.514         0.986          4.886          0              180            0
  46  Faucet             -0.583         1.047          5.096          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Move to the towel over the trash can, to the right.  | STEP 2: Take the towel from the holder.  | STEP 3: Turn around, bring the towel to the tub on the right.  | STEP 4: Put the towel in the tub, left of the rags.  | END