Task: put two towels near sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.901          2.25           0              90             0
   1  Cloth              0.502          0.216          3.271          0              0              0              30
   2  Cloth              0.334          0.215          2.979          0              0              0              29
   3  SoapBar            0.654          0.819          3.184          0              0              0              27
   4  Candle             0.502          1.046          1.467          0              270            0              39
   5  Candle             0.278          0.213          3.432          0              0              0              30
   6  SoapBottle         0.655          1.052          1.533          0              270            0              39
   7  HandTowel          0.634          1.512          3.564          0              90             0              38
   8  SoapBottle         0.593          1.052          1.336          0              270            0              39
   9  HandTowel          0.634          1.512          1.892          0              90             0              37
  10  Towel              0.609          1.376          0.583          0              270            0              31
  11  SoapBar            0.614          0.211          2.899          0              0              0              29
  12  ToiletPaper        0.334          0.207          2.276          0              0              0              20
  13  ToiletPaper        0.308          0.615          1.912          0              180            90             34
  14  Candle             0.532          1.046          1.664          0              270            0              39
  15  ScrubBrush         0.553          0.000          1.725          0              0              0
  16  Cloth              0.502          0.215          2.196          0              0              0              20
  17  Plunger            0.594          -0.000         1.898          0              0              0
  18  SprayBottle        0.455          0.820          2.271          0              0              0              27
  19  Drawer             0.443          0.624          3.310          0              0              0
  20  Drawer             0.443          0.323          2.194          0              0              0
  21  ShowerDoor         -0.923         1.032          1.155          0              0              0
  22  Sink               0.495          0.661          2.756          0              270            0
  23  Drawer             0.443          0.624          2.193          0              0              0
  24  Faucet             0.717          0.982          2.756          0              0              0
  25  Mirror             0.629          1.532          2.697          0              0              0
  26  ShowerGlass        -0.152         1.266          1.156          0              0              0
  27  CounterTop         0.458          0.789          2.759          0              0              0
  28  Drawer             0.443          0.323          2.566          0              0              0
  29  Drawer             0.443          0.323          2.937          0              0              0
  30  Drawer             0.443          0.323          3.310          0              0              0
  31  TowelHolder        0.716          1.361          0.583          0              270            0
  32  TowelHolder        -0.442         1.361          1.175          0              0              0
  33  LightSwitch        -1.749         1.429          3.325          0              90             0
  34  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  35  GarbageCan         0.412          -0.029         3.728          0              0              0
  36  SinkBasin          0.440          0.667          2.746          0              270            0
  37  HandTowelHolder    0.673          1.613          1.891          0              180            0
  38  HandTowelHolder    0.673          1.613          3.563          0              180            0
  39  Toilet             0.270          0.000          1.463          0              0              0
  40  ShowerHead         -1.705         1.894          0.587          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: walk to face round towel holder above toilet | STEP 2: remove towel from rack | STEP 3: walk to face sink | STEP 4: put towel on right side of sink | STEP 5: walk left to face towel rack to left of sink | STEP 6: remove towel from rack | STEP 7: walk to face sink | STEP 8: put towel on left side of sink | END