Task: Put a

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          1.0            0              180            0
   1  SoapBar            -0.925         0.073          0.285          0              315            0              19
   2  Candle             0.349          0.353          3.792          0              0              0              40
   3  SprayBottle        0.401          1.160          3.861          0              0              0              38
   4  SprayBottle        -1.795         0.015          2.246          0              0              0              20
   5  SoapBottle         -0.544         0.447          0.090          0              0              0              17
   6  Towel              -0.07          1.284          0.106          0              0              0              28
   7  HandTowel          -1.731         1.333          3.961          0              0              0              30
   8  SoapBar            -1.188         0.073          0.548          0              315            0              19
   9  ToiletPaper        0.008          1.156          3.797          0              0              0              47
  10  ToiletPaper        0.277          0.612          3.792          0              0              0              41
  11  Cloth              -1.527         0.074          0.970          0              0              0              19
  12  SprayBottle        -1.887         0.772          3.765          0              0              0              18
  13  Candle             0.204          0.094          3.839          0              0              0              39
  14  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  15  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  16  SoapBottle         -1.747         0.069          3.212          0              0              0              27
  17  Bathtub            -1.414         -0.002         0.563          0              0              0
  18  CounterTop         -1.799         0.746          3.122          0              0              0
  19  BathtubBasin       -1.613         0.052          0.540          0              0              0
  20  Cabinet            -1.613         0.309          2.493          0              0              0
  21  ShowerDoor         0.527          1.037          2.115          0              0              0
  22  Mirror             -1.993         1.424          3.107          0              0              0
  23  Cabinet            -1.613         0.309          3.754          0              0              0
  24  Faucet             -1.873         0.461          0.641          0              0              0
  25  Sink               -1.834         0.685          2.777          0              90             0
  26  Cabinet            -1.613         0.309          3.105          0              0              0
  27  Cabinet            -1.613         0.309          3.140          0              0              0
  28  TowelHolder        -0.070         1.269          0.0            0              0              0
  29  GarbageCan         0.932          -0.029         3.761          0              0              0
  30  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  31  Window             -1.039         1.393          0.018          90             0              0
  32  Window             -1.986         1.392          0.706          90             90             0
  33  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  34  SinkBasin          -1.795         0.694          2.781          0              90             0
  35  LightSwitch        1.250          1.330          3.621          0              270            0
  36  Toilet             -1.567         -0.000         1.815          0              180            0
  37  Drawer             0.204          0.940          3.807          0              180            0
  38  Dresser            0.204          0.000          3.832          0              180            0
  39  Drawer             0.204          0.160          3.807          0              180            0
  40  Drawer             0.204          0.420          3.807          0              180            0
  41  Drawer             0.204          0.680          3.807          0              180            0
  42  SinkBasin          -1.795         0.694          3.476          0              90             0
  43  Sink               -1.833         0.685          3.472          0              90             0
  44  Faucet             -1.988         0.947          3.472          0              180            0
  45  ShowerHead         0.972          1.222          2.015          0              270            0
  46  Faucet             -1.988         0.947          2.776          0              180            0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn to the right toward the tub. | STEP 2: Pick up the towel in the tub. | STEP 3: Turn to the right and walk toward the wall. Turn to the left toward the sinks.  | STEP 4: Put the towel into the sink on the left side of the counter. Turn the knobs to turn on the water in order to fill the sink. Turn the knobs to turn the water off. Pick up the towel. | STEP 5: Turn to the right toward the wall. Turn to the left back toward the sinks. Turn to the left toward the tub.  | STEP 6: Put the towel on top of the toilet.  | END