Task: put two towels on the back of the toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.902          1.25           0              270            0
   1  Candle             -3.180         0.611          1.800          0              0              0              32
   2  SoapBar            -3.136         0.612          -0.044         0              0              0              32
   3  SoapBar            -3.689         0.039          0.224          0              0              0              41
   4  DishSponge         -0.794         0.955          -0.775         0              90             0              39
   5  HandTowel          -1.275         1.683          2.244          0              0              0              37
   6  ToiletPaper        -3.156         0.609          1.094          0              0              0              32
   7  Towel              -3.66          1.567          -0.459         0              0              0              34
   8  Candle             -0.544         0.954          -0.829         0              90             0              39
   9  HandTowel          -2.576         1.683          2.244          0              0              0              36
  10  SoapBar            -1.437         0.703          -0.755         0              90             0              27
  11  ToiletPaper        -2.803         0.700          -0.812         0              90             0              27
  12  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  13  SprayBottle        -2.347         0.700          -0.585         0              90             0              27
  14  SoapBottle         -0.669         0.957          -0.775         0              90             0              39
  15  TissueBox          -1.493         0.442          -0.635         0              90             0              21
  16  ToiletPaper        -0.529         0.941          0.245          0              270            90             40
  17  PaperTowelRoll     -3.176         0.718          0.866          0              0              0              32
  18  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  19  Cloth              -2.575         0.702          -0.698         0              90             0              27
  20  DishSponge         -1.920         1.021          1.951          0              180            0              42
  21  Drawer             -1.444         0.531          -0.620         0              90             0
  22  Sink               -1.919         0.441          2.032          0              180            0
  23  Drawer             -2.343         0.531          -0.620         0              90             0
  24  Drawer             -2.343         0.271          -0.620         0              90             0
  25  Drawer             -1.894         0.271          -0.620         0              90             0
  26  Drawer             -2.791         0.271          -0.620         0              90             0
  27  CounterTop         -2.799         0.001          -0.593         0              90             0
  28  Drawer             -1.894         0.531          -0.620         0              90             0
  29  Mirror             -1.909         1.748          2.280          0              0              0
  30  Drawer             -2.791         0.531          -0.620         0              90             0
  31  Drawer             -1.444         0.271          -0.620         0              90             0
  32  Bathtub            -3.706         0.342          0.636          0              0              0
  33  Faucet             -1.919         1.064          2.182          0              180            0
  34  TowelHolder        -3.660         1.552          -0.558         0              0              0
  35  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  36  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  37  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  38  LightSwitch        -0.558         1.282          2.281          0              180            0
  39  Toilet             -0.720         0.001          -0.310         0              0              0
  40  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  41  BathtubBasin       -3.788         0.028          0.595          0              0              0
  42  SinkBasin          -1.908         1.011          1.981          0              180            0
  43  ShowerHead         -3.740         1.858          1.827          0              0              0
  44  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: turn to the right and move to the towel on the towel ring that is to the right of the sink | STEP 2: take the towel off of the towel ring | STEP 3: turn around and move forward to the toilet | STEP 4: put the towel on the back of the toilet | STEP 5: turn to right and then to the right again to go to the left side of the sink | STEP 6: remove the towel from the towel holder | STEP 7: turn to the right and at the door turn to the right to move to the toilet | STEP 8: put the second towel on the left side of the back of the toilet | END