Task: Move a towel to the top of a toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          -1.75          0              90             0
   1  SoapBar            -2.306         1.045          -0.230         0              90             0              29
   2  SoapBar            -2.188         0.913          -1.513         0              90             0              26
   3  Towel              -0.106         1.541          -2.487         0              270            0              21
   4  Candle             -0.086         0.917          -1.380         0              0              0              16
   5  HandTowel          -2.496         1.836          -0.907         0              270            0              24
   6  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
   7  SoapBottle         -2.337         1.045          -0.427         0              90             0              29
   8  SoapBar            -2.429         1.045          -0.361         0              90             0              29
   9  ToiletPaper        -2.402         1.036          -0.173         0              0              0              29
  10  Cloth              -0.757         0.291          -2.574         0              0              0              27
  11  ToiletPaper        -1.490         1.049          -0.110         0              180            90             23
  12  SprayBottle        -2.276         1.046          -0.164         0              90             0              29
  13  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  14  Bathtub            -1.281         0.277          -2.529         0              0              0
  15  Mirror             -2.512         1.764          -1.518         0              0              0
  16  SideTable          -0.153         0.000          -1.465         0              270            0
  17  Sink               -2.273         0.0            -1.519         0              90             0
  18  Drawer             -0.218         0.775          -1.466         0              270            0
  19  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  20  TowelHolder        -2.530         1.526          -2.486         0              90             0
  21  TowelHolder        0.0            1.526          -2.486         0              270            0
  22  LightSwitch        0.0            1.324          -1.146         0              270            0
  23  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  24  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  25  Window             -1.291         1.815          -3.121         90             0              0
  26  SinkBasin          -2.216         0.905          -1.503         0              90             0
  27  SinkBasin          -1.305         0.280          -2.516         0              0              0
  28  HousePlant         -0.108         0.870          -1.649         0              0              0
  29  Toilet             -2.045         0.000          -0.358         0              180            0
  30  Faucet             -2.446         0.940          -1.516         0              90             0
  31  Faucet             -0.132         0.706          -2.877         0              29.999         0
  32  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  33  EastWall
  34  EastWall
  35  SouthWall

Plan:
STEP 1: Look at the towel rack by the toilet | STEP 2: Pick up the towel | STEP 3: Turn to the toilet | STEP 4: Place the towel on top of the toilet | END