Task: Take the hand towel to the toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.902          1.75           0              180            0
   1  TissueBox          -2.743         0.177          -0.586         0              90             0              28
   2  TissueBox          -1.894         0.443          -0.683         0              90             0              30
   3  Candle             -1.894         0.176          -0.635         0              90             0              27
   4  Candle             -0.919         0.953          -0.668         0              90             0              41
   5  SoapBar            -1.892         0.703          -0.812         0              90             0              29
   6  DishSponge         -0.857         0.956          -0.802         0              90             0              41
   7  DishSponge         -3.948         0.040          1.150          0              0              0              34
   8  SoapBottle         -2.575         0.706          -0.755         0              90             0              29
   9  Towel              -3.66          1.567          -0.459         0              0              0              36
  10  Candle             -1.348         0.441          -0.732         0              90             0              23
  11  HandTowel          -1.275         1.683          2.244          0              0              0              39
  12  SoapBar            -2.343         0.442          -0.732         0              90             0              25
  13  ToiletPaper        -0.544         0.951          -0.748         0              90             0              41
  14  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  15  SprayBottle        -2.120         0.700          -0.585         0              90             0              29
  16  SoapBottle         -2.120         0.706          -0.755         0              90             0              29
  17  TissueBox          -2.575         0.704          -0.528         0              90             0              29
  18  ToiletPaper        -1.665         0.700          -0.585         0              90             0              29
  19  PaperTowelRoll     -0.669         1.060          -0.722         0              90             0              41
  20  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  21  Cloth              -3.602         0.038          0.039          0              0              0              43
  22  DishSponge         -0.732         0.955          -0.802         0              90             0              41
  23  Drawer             -1.444         0.531          -0.620         0              90             0
  24  Sink               -1.919         0.441          2.032          0              180            0
  25  Drawer             -2.343         0.531          -0.620         0              90             0
  26  Drawer             -2.343         0.271          -0.620         0              90             0
  27  Drawer             -1.894         0.271          -0.620         0              90             0
  28  Drawer             -2.791         0.271          -0.620         0              90             0
  29  CounterTop         -2.799         0.001          -0.593         0              90             0
  30  Drawer             -1.894         0.531          -0.620         0              90             0
  31  Mirror             -1.909         1.748          2.280          0              0              0
  32  Drawer             -2.791         0.531          -0.620         0              90             0
  33  Drawer             -1.444         0.271          -0.620         0              90             0
  34  Bathtub            -3.706         0.342          0.636          0              0              0
  35  Faucet             -1.919         1.064          2.182          0              180            0
  36  TowelHolder        -3.660         1.552          -0.558         0              0              0
  37  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  38  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  39  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  40  LightSwitch        -0.558         1.282          2.281          0              180            0
  41  Toilet             -0.720         0.001          -0.310         0              0              0
  42  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  43  BathtubBasin       -3.788         0.028          0.595          0              0              0
  44  SinkBasin          -1.908         1.011          1.981          0              180            0
  45  ShowerHead         -3.740         1.858          1.827          0              0              0
  46  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Walk toward the sink and approach the hanging hand towel on the right side of the sink. | STEP 2: Remove the towel from the rack. | STEP 3: Take the towel over to the toilet. | STEP 4: Lay the towel over the toilet paper sitting on the back of the tank. | END