Task: Put a towel in a sink.

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          1.25           0              90             0
   1  Cloth              -1.570         0.243          2.132          0              0              0              23
   2  Cloth              -1.848         1.050          0.682          0              90             0              35
   3  SoapBar            -1.700         0.641          2.362          0              270            0              34
   4  Candle             -1.823         1.087          0.485          0              90             0              35
   5  Candle             -1.887         0.772          2.726          0              0              0              21
   6  SprayBottle        -1.670         0.046          1.323          0              180            0              32
   7  SoapBottle         -1.629         0.731          2.927          0              0              0              21
   8  ToiletPaper        -1.570         0.236          3.329          0              0              0              20
   9  Candle             -1.372         0.772          2.676          0              0              0              21
  10  HandTowel          -1.961         1.588          1.323          0              270            0              28
  11  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  12  Towel              0.871          1.172          2.356          0              0              0              26
  13  SoapBottle         -1.715         0.731          2.776          0              0              0              21
  14  SoapBar            -1.798         1.045          0.813          0              90             0              35
  15  ToiletPaper        -1.553         0.624          0.053          0              0              270            31
  16  Cloth              -1.570         0.244          1.865          0              0              0              23
  17  ToiletPaper        -1.874         0.722          1.860          0              0              0              23
  18  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  19  SprayBottle        -1.543         0.732          2.927          0              0              0              21
  20  Drawer             -1.335         0.301          3.329          0              0              0
  21  CounterTop         -1.608         0.701          2.831          0              0              0
  22  ShowerDoor         0.564          1.018          1.115          0              0              0
  23  Drawer             -1.335         0.301          2.132          0              0              0
  24  Mirror             -1.924         1.414          2.759          0              0              0
  25  Sink               -1.695         0.616          2.283          0              90             0
  26  TowelHolder        0.870          1.157          2.25           0              0              0
  27  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  28  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  29  Window             -1.037         1.399          0.019          90             0              0
  30  Window             -1.986         1.396          0.707          90             90             0
  31  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  32  GarbageCan         -1.739         -0.031         1.268          0              90             0
  33  LightSwitch        1.25           1.273          3.634          0              270            0
  34  SinkBasin          -1.674         0.633          2.274          0              270            0
  35  Toilet             -1.547         0.000          0.685          0              180            0
  36  Sink               -1.695         0.616          3.365          0              90             0
  37  SinkBasin          -1.674         0.633          3.355          0              270            0
  38  ShowerHead         0.853          1.797          1.108          0              180            0
  39  Faucet             -1.926         0.721          2.285          0              90             0
  40  Faucet             -1.926         0.721          3.368          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and face the towel hanging to the right of the mirror. | STEP 2: Pick the towel up from the towel ring on the wall. | STEP 3: Turn around and go left and then turn to the left and face the counter between the sink. | STEP 4: Put the towel in the sink on the left. | END