Task: Put two towels into 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              -2.0           0.899          -0.75          0              270            0
   1  SoapBar            -3.392         0.925          -1.891         0              90             0              33
   2  SoapBar            -3.307         0.925          -1.643         0              90             0              33
   3  Candle             -3.545         0.125          -1.099         0              0              0              23
   4  Candle             -3.545         0.125          -1.997         0              0              0              20
   5  SprayBottle        -3.607         0.085          -1.188         0              0              0              23
   6  SoapBottle         -3.483         0.084          -2.086         0              0              0              20
   7  SoapBottle         -3.618         0.122          -0.485         0              0              0              32
   8  HandTowel          -3.332         1.519          -2.160         0              180            0              35
   9  Towel              0.136          1.121          -2.080         0              0              0              31
  10  Candle             -2.089         1.085          -1.969         0              0              0              37
  11  Cloth              -2.002         1.034          -2.086         0              343.825        0              37
  12  HandTowel          -3.711         1.474          -0.410         0              270            0              34
  13  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  14  SoapBottle         -3.296         0.084          -1.188         0              0              0              23
  15  SoapBar            -3.232         0.083          -1.544         0              0              0              25
  16  ToiletPaper        -2.305         0.755          -2.157         0              0              90             36
  17  ToiletPaper        -1.695         1.040          -2.030         0              0              0              37
  18  SprayBottle        -1.892         1.045          -1.969         0              0              0              37
  19  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  20  Cabinet            -3.169         0.370          -2.188         0              0              0
  21  Window             -1.737         1.292          -2.286         0              0              0
  22  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  23  Cabinet            -3.169         0.370          -1.379         0              0              0
  24  Mirror             -3.730         1.481          -1.427         0              0              0
  25  Cabinet            -3.169         0.370          -1.398         0              0              0
  26  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  27  Sink               -3.391         0.841          -1.828         0              90             0
  28  FloorLamp          -3.539         1.020          -0.932         0              90             0
  29  Cabinet            -3.169         0.370          -0.592         0              0              0
  30  CounterTop         -3.426         0.883          -1.384         0              0              0
  31  TowelHolder        0.136          1.106          -2.187         0              0              0
  32  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  33  SinkBasin          -3.392         0.916          -1.820         0              90             0
  34  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  35  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  36  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  37  Toilet             -1.896         -0.001         -1.738         0              90             0
  38  LightSwitch        -2.052         1.292          1.000          0              180            0
  39  FloorLamp          -3.539         1.020          -1.830         0              90             0
  40  ShowerHead         0.232          1.026          0.375          0              315            0
  41  Sink               -3.391         0.841          -0.931         0              90             0
  42  SinkBasin          -3.392         0.916          -0.923         0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn right, go forward a bit, turn left, go to the wall | STEP 2: Pick up the towel on the wall | STEP 3: Turn around, go forward a bit, turn right, go forward, turn right in the middle of the counter | STEP 4: Put the towel in the left sink | STEP 5: Turn left, go forward a bit, turn right in front of the sink | STEP 6: Pick up the towel on the left wall | STEP 7: Turn right, go forward a bit, turn left in front of the counter | STEP 8: Put the towel in the left sink | END