Task: pick up a towel and put it down onto the edge of the bathtub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.901          1.75           0              0              0
   1  Cloth              -2.378         0.194          0.336          0              0              0              28
   2  Cloth              -0.412         0.811          2.740          0              0              0              30
   3  Candle             -0.284         0.812          3.130          0              0              0              30
   4  HandTowel          -0.034         1.537          3.105          0              90             0              35
   5  Towel              -1.513         1.496          0.109          0              0              0              31
   6  Cloth              -0.363         0.517          3.076          0              0              0              24
   7  SoapBar            -2.767         0.954          3.139          0              270            0              39
   8  ToiletPaper        -3.017         0.951          3.139          0              270            0              39
   9  Plunger            -2.530         0.000          3.026          0              0              0
  10  Candle             -2.954         0.953          3.246          0              270            0              39
  11  SoapBottle         -1.997         0.813          0.279          0              0              0              27
  12  ToiletPaper        -0.416         0.215          1.807          0              0              0              17
  13  SprayBottle        -2.892         0.955          3.193          0              270            0              39
  14  ScrubBrush         -2.332         0.000          3.163          0              0              0
  15  Drawer             -0.325         0.319          2.155          0              0              0
  16  Mirror             0.0            1.473          1.917          0              270            0
  17  Drawer             -0.325         0.319          1.717          0              0              0
  18  Drawer             -0.325         0.319          2.592          0              0              0
  19  Bathtub            -3.589         0.107          1.521          0              0              0
  20  Drawer             -0.325         0.619          2.592          0              0              0
  21  Drawer             -2.249         0.319          0.280          0              0              0
  22  Drawer             -0.325         0.319          3.030          0              0              0
  23  Mirror             0.0            1.473          2.700          0              270            0
  24  Drawer             -0.325         0.619          3.030          0              0              0
  25  ShowerGlass        -0.494         1.490          0.528          0              0              0
  26  Sink               -2.539         0.661          0.252          0              0              0
  27  CounterTop         -2.540         0.805          0.280          0              0              0
  28  Drawer             -2.844         0.319          0.280          0              0              0
  29  ShowerDoor         -1.074         1.033          0.519          0              0              0
  30  CounterTop         -0.277         0.785          1.931          0              0              0
  31  TowelHolder        -1.513         1.481          0.002          0              0              0
  32  LightSwitch        -0.776         1.371          3.300          0              180            0
  33  GarbageCan         -1.754         0.001          0.227          0              0              0
  34  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  35  HandTowelHolder    0.004          1.639          3.105          0              180            0
  36  HandTowelHolder    0.004          1.639          2.309          0              180            0
  37  HandTowelHolder    0.004          1.639          1.542          0              180            0
  38  Window             -4.127         1.519          1.495          90             270            0
  39  Toilet             -2.842         0.000          2.755          0              180            0
  40  SinkBasin          -2.542         0.706          0.269          0              0              0
  41  BathtubBasin       -3.606         0.182          1.536          0              270            0
  42  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  43  Faucet             -2.540         0.794          0.111          0              0              0
  44  Faucet             -0.111         0.794          1.921          0              270            0
  45  ShowerHead         -3.612         1.776          2.299          0              0              0
  46  ShowerHead         -0.079         1.151          0.662          0              0              0
  47  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  48  Sink               -0.260         0.661          1.922          0              270            0
  49  SinkBasin          -0.277         0.706          1.920          0              270            0
  50  NorthWall
  51  SouthWall
  52  SouthWall

Plan:
STEP 1: turn right and walk towards the sink and then turn left towards the wall then turn right again towards the mirror and walk straight and look up | STEP 2: remove the towel from the towel holder next to the mirror | STEP 3: turn right then walk straight towards the shower then turn right again and walk straight towards the tub then turn left towards the sink and then turn left again at the sink then left again and look down | STEP 4: put the towel down on the edge of the bathtub | END