Task: Put a towel in the sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.900          1.25           0              270            0
   1  Cloth              -1.825         0.517          0.363          0              0              0              23
   2  Cloth              -3.511         0.219          0.941          0              0              0              44
   3  TissueBox          -2.132         1.583          2.192          0              0              0              33
   4  TissueBox          -2.121         0.109          2.237          0              0              0              25
   5  SoapBar            -2.135         0.850          0.407          0              0              0              45
   6  SoapBar            -1.557         0.812          0.228          0              0              0              29
   7  SprayBottle        -0.813         0.119          0.311          0              0              0              26
   8  SprayBottle        -0.318         0.954          2.696          0              270            0              43
   9  SoapBottle         -0.722         1.657          0.311          0              0              0              34
  10  SoapBottle         -3.064         0.692          0.148          0              0              0              28
  11  HandTowel          -1.296         1.765          0.040          0              180            0              41
  12  SoapBar            -2.253         1.300          2.096          0              0              0              37
  13  ToiletPaper        -0.921         1.124          0.210          0              0              0              35
  14  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  15  Candle             -2.275         1.583          2.096          0              0              0              33
  16  TissueBox          -0.753         1.134          0.466          0              0              0              35
  17  ToiletPaper        -0.812         1.131          0.347          0              0              0              35
  18  SoapBottle         -2.016         0.127          0.364          0              0              0              23
  19  SprayBottle        -0.203         0.027          0.270          0              0              0              46
  20  Towel              -2.760         1.569          0.107          0              0              0              38
  21  Cloth              -3.449         0.219          0.613          0              0              0              44
  22  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  23  Cabinet            -2.344         0.457          0.524          0              0              0
  24  Drawer             -0.813         0.956          0.384          0              270            0
  25  Cabinet            -1.891         0.443          1.982          0              0              0
  26  Cabinet            -0.605         0.457          0.524          0              0              0
  27  Drawer             -2.032         0.942          2.190          0              0              0
  28  Bathtub            -3.450         0.178          1.029          0              0              0
  29  CounterTop         -1.919         0.0            0.288          0              0              0
  30  Sink               -1.924         0.772          0.326          0              0              0
  31  Mirror             -1.934         1.666          0.107          0              0              0
  32  Faucet             -1.925         0.958          0.179          0              0              0
  33  Cabinet            -1.891         1.884          2.391          0              0              0
  34  Cabinet            -0.605         1.988          0.524          0              0              0
  35  CounterTop         -0.812         0.093          0.288          0              0              0
  36  Shelf              -2.029         1.183          2.189          0              0              0
  37  Shelf              -2.123         1.393          2.189          0              0              0
  38  TowelHolder        -2.760         1.555          0.000          0              0              0
  39  LightSwitch        0.0            1.427          1.993          0              270            0
  40  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  41  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  42  Window             -4.149         1.717          1.154          90             270            0
  43  Toilet             -0.456         -0.000         2.257          0              180            0
  44  BathtubBasin       -3.520         0.210          0.940          0              0              0
  45  SinkBasin          -1.931         0.841          0.320          0              0              0
  46  GarbageCan         -0.257         -0.000         0.259          0              0              0
  47  ShowerHead         -3.522         1.719          1.776          0              0              0
  48  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  49  NorthWall
  50  SouthWall
  51  SouthWall

Plan:
STEP 1: Turn around and stand in front of the towel hanging to the left of the mirror. | STEP 2: Take the towel from the towel ring on the wall. | STEP 3: Turn to the right to face the sink and tub. | STEP 4: Put the towel down in the sink. | END