Task: Collecting tissues to put in the bath tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.903          3.75           0              180            0
   1  Cloth              -2.243         0.704          0.280          0              0              0              24
   2  Cloth              -2.163         0.704          1.008          0              0              0              24
   3  Cloth              -2.243         0.704          0.572          0              0              0              24
   4  SoapBar            0.313          1.051          2.857          0              270            0              25
   5  Candle             0.298          1.063          3.781          0              0              0              27
   6  Candle             -1.869         0.713          1.041          0              0              0              24
   7  SprayBottle        0.449          0.098          3.558          0              0              0              23
   8  SoapBottle         0.305          0.101          3.655          0              0              0              23
   9  SoapBottle         0.672          1.058          3.915          0              0              0              27
  10  Towel              -2.393         1.478          0.580          0              90             0              30
  11  Candle             0.760          1.056          4.473          0              270            0              36
  12  Cloth              -2.004         0.704          0.863          0              0              0              24
  13  HandTowel          0.397          1.656          2.039          0              180            0              34
  14  Plunger            0.480          0.002          4.793          0              0              0
  15  SoapBar            -1.036         0.164          0.826          0              0              0              33
  16  ToiletPaper        -2.402         0.701          0.426          0              0              0              24
  17  ToiletPaper        -0.047         0.971          4.911          0              180            90             31
  18  SoapBottle         0.524          0.101          2.448          0              0              0              29
  19  SprayBottle        0.449          0.098          3.167          0              0              0              23
  20  ScrubBrush         0.688          0.002          4.867          0              0              0
  21  Sink               0.426          1.037          2.947          0              270            0
  22  Window             -2.548         1.673          2.405          0              0              0
  23  Cabinet            0.068          0.366          3.772          0              0              0
  24  Bathtub            -1.042         0.155          0.558          0              0              0
  25  SinkBasin          0.404          0.926          2.926          0              270            0
  26  Mirror             0.858          1.863          2.972          0              0              0
  27  CounterTop         0.487          1.015          3.090          0              0              0
  28  Faucet             -0.207         0.687          0.546          0              0              0
  29  Cabinet            0.074          0.379          2.045          0              0              0
  30  TowelHolder        -2.5           1.463          0.579          0              90             0
  31  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  32  LightSwitch        -1.121         1.333          5.000          0              180            0
  33  BathtubBasin       -1.062         0.153          0.556          0              0              0
  34  HandTowelHolder    0.398          1.758          2.000          0              270            0
  35  GarbageCan         -0.229         0.001          1.445          0              270            0
  36  Toilet             0.376          0.002          4.470          0              0              0
  37  Faucet             0.661          1.043          3.371          0              270            0
  38  Faucet             0.661          1.043          2.520          0              270            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Walk straight towards the tub and face the right end of it | STEP 2: Pick up a tissue from the tub top | STEP 3: Turn to the left and face the middle of the tub | STEP 4: Place the tissue in the bottom of the tub | STEP 5: Turn to the right and face the right end of the tub | STEP 6: Pick up a tissue from the tub top | STEP 7: Turn to the left and face the middle of the tub | STEP 8: Place the tissue in the bottom of the tub | END