Task: Putting two towels on 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          0.901          2.0            0              270            0
   1  Cloth              0.502          0.517          3.312          0              0              0              19
   2  SoapBar            0.389          0.819          3.239          0              0              0              27
   3  SoapBar            0.278          0.511          2.275          0              0              0              23
   4  SprayBottle        0.521          0.820          2.106          0              0              0              27
   5  SoapBottle         0.521          0.827          3.294          0              0              0              27
   6  HandTowel          0.634          1.512          3.564          0              90             0              38
   7  ToiletPaper        0.558          0.508          2.235          0              0              0              23
   8  SoapBottle         0.655          1.052          1.270          0              270            0              39
   9  HandTowel          0.634          1.512          1.892          0              90             0              37
  10  Towel              0.609          1.376          0.583          0              270            0              31
  11  SoapBar            0.624          1.044          1.533          0              270            0              39
  12  ToiletPaper        0.361          0.504          2.174          0              0              0              23
  13  ToiletPaper        0.308          0.615          1.912          0              180            90             34
  14  Candle             0.502          0.212          3.312          0              0              0              30
  15  ScrubBrush         0.553          0.000          1.725          0              0              0
  16  Cloth              0.390          0.216          2.236          0              0              0              20
  17  Plunger            0.594          -0.000         1.898          0              0              0
  18  SprayBottle        0.323          0.820          2.380          0              0              0              27
  19  Drawer             0.443          0.624          3.310          0              0              0
  20  Drawer             0.443          0.323          2.194          0              0              0
  21  ShowerDoor         -0.923         1.032          1.155          0              0              0
  22  Sink               0.495          0.661          2.756          0              270            0
  23  Drawer             0.443          0.624          2.193          0              0              0
  24  Faucet             0.717          0.982          2.756          0              0              0
  25  Mirror             0.629          1.532          2.697          0              0              0
  26  ShowerGlass        -0.152         1.266          1.156          0              0              0
  27  CounterTop         0.458          0.789          2.759          0              0              0
  28  Drawer             0.443          0.323          2.566          0              0              0
  29  Drawer             0.443          0.323          2.937          0              0              0
  30  Drawer             0.443          0.323          3.310          0              0              0
  31  TowelHolder        0.716          1.361          0.583          0              270            0
  32  TowelHolder        -0.442         1.361          1.175          0              0              0
  33  LightSwitch        -1.749         1.429          3.325          0              90             0
  34  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  35  GarbageCan         0.412          -0.029         3.728          0              0              0
  36  SinkBasin          0.440          0.667          2.746          0              270            0
  37  HandTowelHolder    0.673          1.613          1.891          0              180            0
  38  HandTowelHolder    0.673          1.613          3.563          0              180            0
  39  Toilet             0.270          0.000          1.463          0              0              0
  40  ShowerHead         -1.705         1.894          0.587          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and face the wall | STEP 2: Grab the towel off of the towel holder | STEP 3: Turn left and go to the sink | STEP 4: Put the towel down to the left of the sink | STEP 5: Turn left and stop at the edge of the sink | STEP 6: Grab the towel off of the towel holder on the wall | STEP 7: Turn right and go to the sink | STEP 8: Put the towel down to the right of the sink | END