Task: Move the towel from the towel holder to the sink counter.

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          0.900          2.25           0              0              0
   1  SoapBar            -0.470         0.510          2.662          0              0              0              16
   2  SoapBar            -0.417         0.812          2.243          0              0              0              18
   3  HandTowel          -0.036         1.658          3.443          0              90             0              32
   4  SoapBar            -2.146         0.056          3.867          0              90             0              31
   5  ToiletPaper        -0.180         0.945          3.719          0              0              0              33
   6  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
   7  Candle             -0.215         0.953          3.533          0              0              0              33
   8  SoapBottle         -0.289         0.813          1.288          0              0              0              18
   9  ToiletPaper        -0.246         0.202          2.606          0              0              0              17
  10  SprayBottle        -0.161         0.813          3.260          0              0              0              18
  11  Towel              -1.106         1.151          1.289          0              0              0              30
  12  Cloth              -0.246         0.205          1.978          0              0              0              19
  13  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  14  DishSponge         -0.289         0.813          3.143          0              0              0              18
  15  Sink               -0.299         0.807          2.754          0              270            0
  16  Drawer             -0.319         0.615          3.012          0              0              0
  17  Drawer             -0.319         0.316          3.012          0              0              0
  18  CounterTop         -0.349         0.004          1.453          0              0              0
  19  Drawer             -0.319         0.615          1.978          0              0              0
  20  Drawer             -0.319         0.316          1.978          0              0              0
  21  Drawer             -0.319         0.316          1.463          0              0              0
  22  Drawer             -0.319         0.615          2.495          0              0              0
  23  ShowerDoor         -1.514         0.910          1.167          0              0              0
  24  Drawer             -0.319         0.615          1.463          0              0              0
  25  Drawer             -0.319         0.316          2.495          0              0              0
  26  Faucet             -0.076         0.805          2.757          0              0              0
  27  Mirror             -0.228         0.465          1.453          0              0              0
  28  ShowerGlass        -0.766         0.541          0.485          0              0              0
  29  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  30  TowelHolder        -1.105         1.136          1.183          0              0              0
  31  GarbageCan         -2.041         -0.000         3.724          0              45             0
  32  HandTowelHolder    0.001          1.759          3.443          0              180            0
  33  Toilet             -0.600         -0.000         3.671          0              270            0
  34  LightSwitch        -2.312         1.386          3.296          0              90             0
  35  Faucet             -0.076         0.805          1.733          0              0              0
  36  SinkBasin          -0.304         0.819          2.753          0              0              0
  37  Sink               -0.298         0.807          1.725          0              270            0
  38  ShowerHead         -0.083         1.248          0.522          0              0              0
  39  SinkBasin          -0.304         0.819          1.723          0              0              0
  40  NorthWall
  41  SouthWall
  42  SouthWall

Plan:
STEP 1: Turn right and look up at the left of the mirror.  | STEP 2: Pick up the towel from the towel holder.  | STEP 3: Move to the front of the sink on the right side and look down on the counter.  | STEP 4: Put the towel down on the counter to the left of the sink.  | END