Task: put two hanging 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              -2.0           0.900          2.75           0              270            0
   1  Cloth              -2.372         0.831          1.545          0              0              0              21
   2  Cloth              -1.430         0.887          1.785          0              0              0              37
   3  SoapBar            -2.074         0.269          1.728          0              0              0              30
   4  Candle             -3.395         0.835          1.756          0              0              0              21
   5  SprayBottle        -0.956         1.045          4.263          0              270            0              41
   6  SprayBottle        -3.432         0.827          1.439          0              0              0              21
   7  SoapBottle         -0.987         1.046          4.394          0              270            0              41
   8  SoapBottle         -2.372         0.828          2.074          0              0              0              21
   9  HandTowel          -3.726         1.646          1.330          0              180            0              39
  10  Candle             -2.012         0.835          1.545          0              0              0              21
  11  HandTowel          -0.923         1.59           2.018          0              90             0              38
  12  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  13  SoapBar            -4.309         0.202          2.211          0              270            0              36
  14  ToiletPaper        -2.012         0.823          1.862          0              0              0              21
  15  Cloth              -2.838         0.274          1.832          0              0              0              26
  16  ToiletPaper        -1.979         0.809          1.695          0              0              0              21
  17  Towel              -4.739         1.522          2.425          0              90             0              34
  18  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  19  SoapBottle         -2.192         0.828          2.074          0              0              0              21
  20  SprayBottle        -2.282         0.827          1.756          0              0              0              21
  21  CounterTop         -2.177         0.782          1.889          0              0              0
  22  Drawer             -1.307         0.606          1.890          0              0              0
  23  Drawer             -1.307         0.337          1.890          0              0              0
  24  Faucet             -4.646         0.448          1.689          0              0              0
  25  ShowerDoor         -4.873         1.235          3.947          0              0              0
  26  Drawer             -3.029         0.337          1.890          0              0              0
  27  Drawer             -2.169         0.606          1.890          0              0              0
  28  Drawer             -3.029         0.606          1.890          0              0              0
  29  Bathtub            -4.080         0.297          2.480          0              345.000        0
  30  Drawer             -2.169         0.337          1.890          0              0              0
  31  Mirror             -2.177         1.856          1.390          0              0              0
  32  Sink               -1.421         0.837          1.776          0              0              0
  33  TowelHolder        -4.846         1.508          3.358          0              90             0
  34  TowelHolder        -4.846         1.508          2.424          0              90             0
  35  LightSwitch        -2.165         1.450          4.972          0              180            0
  36  BathtubBasin       -4.309         0.192          2.328          0              270            0
  37  SinkBasin          -1.442         0.874          1.785          0              0              0
  38  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  39  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  40  GarbageCan         -1.116         -0.037         3.598          0              270            0
  41  Toilet             -1.340         -0.000         4.456          0              0              0
  42  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  43  Faucet             -1.421         0.954          1.507          0              0              0
  44  ShowerHead         -5.257         1.733          4.030          0              90             0
  45  Faucet             -2.944         0.954          1.507          0              0              0
  46  Sink               -2.943         0.837          1.776          0              0              0
  47  SinkBasin          -2.964         0.874          1.785          0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: walk to the tub, turn left, | STEP 2: grab the towel on the wall | STEP 3: turn around, turn around again,  | STEP 4: put the towel in the tub | STEP 5: turn left, walk to the sink at the end  | STEP 6: grab the towel on the wall | STEP 7: turn right, walk to the tub | STEP 8: put the towel in the tub  | END