Task: Place a clean towel 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              -2.25          0.901          1.25           0              90             0
   1  Cloth              -0.155         0.811          3.130          0              0              0              37
   2  Cloth              -2.077         0.811          0.342          0              270            0              34
   3  SoapBar            -2.642         0.954          3.220          0              270            0              46
   4  Candle             -1.997         0.813          0.217          0              0              0              34
   5  SprayBottle        -1.816         0.019          0.194          0              0              0              40
   6  SprayBottle        -3.017         0.955          3.220          0              270            0              46
   7  SoapBottle         -2.442         0.195          0.392          0              0              0              28
   8  SoapBottle         -3.082         0.813          0.342          0              0              0              34
   9  HandTowel          -0.034         1.537          3.105          0              90             0              42
  10  ToiletPaper        -2.286         0.825          3.221          0              180            270            49
  11  HandTowel          -0.034         1.537          2.309          0              90             0              43
  12  Towel              -1.513         1.496          0.109          0              0              0              38
  13  Cloth              -0.363         0.217          2.200          0              0              0              22
  14  SoapBar            -2.642         0.954          3.139          0              270            0              46
  15  ToiletPaper        -0.476         0.809          2.610          0              0              0              37
  16  Plunger            -2.530         0.000          3.026          0              0              0
  17  Candle             -3.294         0.544          0.825          0              0              0              26
  18  SoapBottle         -2.892         0.954          3.220          0              270            0              46
  19  ToiletPaper        -0.309         0.515          2.593          0              0              0              27
  20  SprayBottle        -3.002         0.814          0.279          0              0              0              34
  21  ScrubBrush         -2.332         0.000          3.163          0              0              0
  22  Drawer             -0.325         0.319          2.155          0              0              0
  23  Mirror             0.0            1.473          1.917          0              270            0
  24  Drawer             -0.325         0.319          1.717          0              0              0
  25  Drawer             -0.325         0.319          2.592          0              0              0
  26  Bathtub            -3.589         0.107          1.521          0              0              0
  27  Drawer             -0.325         0.619          2.592          0              0              0
  28  Drawer             -2.249         0.319          0.280          0              0              0
  29  Drawer             -0.325         0.319          3.030          0              0              0
  30  Mirror             0.0            1.473          2.700          0              270            0
  31  Drawer             -0.325         0.619          3.030          0              0              0
  32  ShowerGlass        -0.494         1.490          0.528          0              0              0
  33  Sink               -2.539         0.661          0.252          0              0              0
  34  CounterTop         -2.540         0.805          0.280          0              0              0
  35  Drawer             -2.844         0.319          0.280          0              0              0
  36  ShowerDoor         -1.074         1.033          0.519          0              0              0
  37  CounterTop         -0.277         0.785          1.931          0              0              0
  38  TowelHolder        -1.513         1.481          0.002          0              0              0
  39  LightSwitch        -0.776         1.371          3.300          0              180            0
  40  GarbageCan         -1.754         0.001          0.227          0              0              0
  41  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  42  HandTowelHolder    0.004          1.639          3.105          0              180            0
  43  HandTowelHolder    0.004          1.639          2.309          0              180            0
  44  HandTowelHolder    0.004          1.639          1.542          0              180            0
  45  Window             -4.127         1.519          1.495          90             270            0
  46  Toilet             -2.842         0.000          2.755          0              180            0
  47  SinkBasin          -2.542         0.706          0.269          0              0              0
  48  BathtubBasin       -3.606         0.182          1.536          0              270            0
  49  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  50  Faucet             -2.540         0.794          0.111          0              0              0
  51  Faucet             -0.111         0.794          1.921          0              270            0
  52  ShowerHead         -3.612         1.776          2.299          0              0              0
  53  ShowerHead         -0.079         1.151          0.662          0              0              0
  54  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  55  Sink               -0.260         0.661          1.922          0              270            0
  56  SinkBasin          -0.277         0.706          1.920          0              270            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: Turn right and face the sink in front of you. | STEP 2: Pick up the dirty towel from the sink in front of you. | STEP 3: Turn around in a circle and face the sink in front of you. | STEP 4: Wash the dirty towel in the sink in front of you and take it out. | STEP 5: Turn around to have the tub to your left. | STEP 6: Place the clean towel in the tub. | END