Task: take the towel from the rack and put it in the cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          1.0            0              180            0
   1  Cloth              -2.736         0.938          2.081          0              90             0              47
   2  Candle             -2.678         0.937          2.691          0              0              0              39
   3  Candle             -2.530         0.937          1.886          0              0              0              39
   4  SoapBar            -2.656         0.746          3.457          0              0              0              35
   5  SoapBar            -2.520         1.205          1.400          0              270            0              40
   6  SprayBottle        -2.701         1.206          1.460          0              270            0              40
   7  SprayBottle        -0.183         0.052          0.216          0              270            0              45
   8  DishSponge         -2.674         0.905          3.477          0              0              0              31
   9  SoapBottle         -2.605         1.663          3.149          0              0              0              33
  10  ToiletPaper        -2.883         1.202          1.400          0              270            0              40
  11  Towel              -0.106         1.510          1.943          0              270            0              41
  12  Candle             -2.611         1.214          1.550          0              270            0              40
  13  SoapBottle         -2.600         1.664          3.478          0              0              0              36
  14  HandTowel          -2.698         1.521          2.867          0              0              0              42
  15  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  16  SoapBar            -2.672         0.093          3.404          0              0              0              27
  17  ToiletPaper        -2.933         1.074          0.652          0              90             0              49
  18  Cloth              -2.788         0.094          3.404          0              270            0              27
  19  ToiletPaper        -0.207         0.048          0.274          0              270            0              45
  20  SprayBottle        -2.456         0.930          1.800          0              0              0              39
  21  PaperTowelRoll     -2.841         1.183          0.455          0              90             0              49
  22  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  23  DishSponge         -2.539         0.093          3.001          0              0              0              38
  24  Cabinet            -2.410         0.371          2.862          0              0              0
  25  Mirror             -2.973         1.613          2.265          0              0              0
  26  Bathtub            -0.435         0.182          1.575          0              0              0
  27  Cabinet            -2.410         0.371          3.570          0              0              0
  28  Cabinet            -2.410         0.371          2.040          0              0              0
  29  Cabinet            -2.410         1.261          2.913          0              0              0
  30  Faucet             -0.769         0.416          1.0            0              9.958          0
  31  Cabinet            -2.410         1.261          3.570          0              0              0
  32  Sink               -2.723         0.862          2.231          0              90             0
  33  Cabinet            -2.410         2.022          2.913          0              0              0
  34  Cabinet            -2.410         0.371          1.585          0              0              0
  35  Drawer             -2.638         0.767          3.239          0              0              0
  36  Cabinet            -2.410         2.022          3.570          0              0              0
  37  Faucet             -2.928         0.978          2.231          0              90             0
  38  Cabinet            -2.410         0.371          2.913          0              0              0
  39  CounterTop         -2.688         0.966          2.260          0              0              0
  40  CounterTop         -2.611         1.243          1.455          0              270            0
  41  TowelHolder        0.0            1.496          1.942          0              270            0
  42  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  43  Window             -2.256         1.656          -0.021         90             0              0
  44  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  45  GarbageCan         -0.403         -0.027         0.241          0              0              0
  46  BathtubBasin       -0.435         0.185          1.544          0              0              0
  47  SinkBasin          -2.736         0.929          2.241          0              90             0
  48  LightSwitch        -1.675         1.442          3.610          0              180            0
  49  Toilet             -2.579         0.032          0.656          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: go the right side of the sink | STEP 2: take the towel from the right | STEP 3: open the cabinet door on the left | STEP 4: put the towel in the cabinet | END