Task: Put a white 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              -1.25          0.900          -2.25          0              180            0
   1  Candle             -2.694         0.991          -2.657         0              0              0              21
   2  Candle             -0.091         0.352          -3.399         0              90             0              32
   3  SprayBottle        -2.640         0.358          -3.131         0              0              0              19
   4  HandTowel          -0.038         1.481          -1.549         0              90             0              25
   5  SoapBar            -2.640         0.357          -2.505         0              0              0              19
   6  ToiletPaper        -0.138         0.875          -3.254         0              90             0              34
   7  ToiletPaper        -2.473         0.989          -2.391         0              0              0              21
   8  Towel              -1.338         1.193          -0.106         0              180            0              22
   9  SoapBottle         -0.180         1.166          -3.497         0              90             0              35
  10  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  11  Cloth              -2.547         0.997          -3.454         0              0              0              21
  12  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  13  Candle             -2.576         0.356          -2.923         0              0              0              19
  14  SprayBottle        -0.212         1.162          -3.693         0              90             0              35
  15  Bathtub            -2.104         0.524          -0.828         0              0              0
  16  Faucet             -0.040         1.017          -2.076         0              270            0
  17  Sink               -0.307         0.0            -2.076         0              270            0
  18  Mirror             -2.983         1.565          -2.900         0              0              0
  19  Shelf              -2.581         0.395          -2.923         0              0              0
  20  Shelf              -2.539         0.130          -2.923         0              0              0
  21  CounterTop         -2.704         1.029          -2.923         0              0              0
  22  TowelHolder        -1.338         1.179          0.0            0              180            0
  23  LightSwitch        -0.363         1.330          -3.999         0              0              0
  24  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  25  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  26  SinkBasin          -0.310         0.859          -2.076         0              0              0
  27  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  28  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  29  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  30  Toilet             -0.411         -0.000         -0.547         0              0              0
  31  Drawer             -0.229         0.161          -3.398         0              270            0
  32  Drawer             -0.229         0.420          -3.398         0              270            0
  33  Drawer             -0.229         0.680          -3.398         0              270            0
  34  Drawer             -0.229         0.940          -3.398         0              270            0
  35  Dresser            -0.205         0.000          -3.398         0              270            0
  36  ShowerHead         -2.579         1.261          -0.064         0              270            0
  37  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: Turn around to walk towards the sink, facing the towel hanger to the left of it. | STEP 2: Pick up the white towel from the hanger. | STEP 3: Turn to face the sink. | STEP 4: Set the white towel down in the sink. | END