Task: put a towel inside the bathroom cabinet

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          0.899          -1.25          0              90             0
   1  Cloth              -3.358         0.083          -2.042         0              90             0              18
   2  SoapBar            -3.349         0.925          -0.808         0              90             0              40
   3  SoapBar            -3.307         0.925          -2.015         0              90             0              31
   4  SprayBottle        -1.761         1.045          -2.030         0              0              0              35
   5  SprayBottle        -3.545         0.085          -1.099         0              0              0              21
   6  SoapBottle         -3.358         0.084          -1.278         0              0              0              21
   7  Towel              0.136          1.121          -2.080         0              0              0              29
   8  Candle             -3.607         0.125          -1.188         0              0              0              21
   9  Cloth              -2.002         1.034          -2.086         0              343.825        0              35
  10  HandTowel          -3.711         1.474          -0.410         0              270            0              32
  11  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  12  SoapBottle         -3.569         0.118          -0.436         0              0              0              30
  13  SoapBar            -3.421         0.910          -1.444         0              0              0              28
  14  ToiletPaper        -3.493         0.075          -1.635         0              0              0              23
  15  ToiletPaper        -2.305         0.755          -2.157         0              0              90             34
  16  SprayBottle        -3.295         0.084          -1.678         0              0              0              23
  17  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  18  Cabinet            -3.169         0.370          -2.188         0              0              0
  19  Window             -1.737         1.292          -2.286         0              0              0
  20  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  21  Cabinet            -3.169         0.370          -1.379         0              0              0
  22  Mirror             -3.730         1.481          -1.427         0              0              0
  23  Cabinet            -3.169         0.370          -1.398         0              0              0
  24  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  25  Sink               -3.391         0.841          -1.828         0              90             0
  26  FloorLamp          -3.539         1.020          -0.932         0              90             0
  27  Cabinet            -3.169         0.370          -0.592         0              0              0
  28  CounterTop         -3.426         0.883          -1.384         0              0              0
  29  TowelHolder        0.136          1.106          -2.187         0              0              0
  30  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  31  SinkBasin          -3.392         0.916          -1.820         0              90             0
  32  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  33  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  34  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  35  Toilet             -1.896         -0.001         -1.738         0              90             0
  36  LightSwitch        -2.052         1.292          1.000          0              180            0
  37  FloorLamp          -3.539         1.020          -1.830         0              90             0
  38  ShowerHead         0.232          1.026          0.375          0              315            0
  39  Sink               -3.391         0.841          -0.931         0              90             0
  40  SinkBasin          -3.392         0.916          -0.923         0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: walk over to the towel rack to the right of the mirror | STEP 2: grab the towel off of the towel rack | STEP 3: back up a bit to face the bathroom mirror and cabinets below | STEP 4: put the towel inside of the right cabinet below the sink | END