Task: Take the toilet paper off the holder and move it to 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              0.25           0.900          -1.5           0              270            0
   1  TissueBox          0.852          0.818          -1.773         0              90             0              29
   2  SoapBottle         -0.008         0.955          -3.847         0              90             0              23
   3  SoapBottle         0.839          0.821          -0.522         0              90             0              28
   4  Cloth              -1.640         0.042          -1.822         0              270            0              25
   5  Candle             0.824          0.817          -1.571         0              90             0              29
   6  HandTowel          -2.166         1.500          -0.037         0              0              0              20
   7  Towel              -1.525         1.685          -0.105         0              180            0              18
   8  SoapBar            -2.173         0.834          -0.659         0              0              0              24
   9  ToiletPaper        0.405          0.729          -3.885         0              0              270            26
  10  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  11  SprayBottle        -1.555         0.815          -0.108         0              0              0              27
  12  TissueBox          0.754          0.818          -0.825         0              90             0              28
  13  ToiletPaper        -0.444         0.039          -3.793         0              0              0              19
  14  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  15  Sink               -2.171         0.294          -0.660         0              90             0
  16  Bathtub            -2.122         -0.088         -3.116         0              0              0
  17  Mirror             -2.503         1.423          -0.703         0              0              0
  18  TowelHolder        -1.524         1.671          0.001          0              180            0
  19  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  20  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  21  LightSwitch        0.321          1.327          0.000          0              180            0
  22  Window             -0.540         1.625          -3.996         90             0              0
  23  Toilet             0.004          -0.000         -3.436         0              0              0
  24  SinkBasin          -2.176         0.824          -0.659         0              0              0
  25  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  26  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  27  SideTable          -1.526         0.001          -0.172         0              0              0
  28  SideTable          0.780          0.001          -0.667         0              90             0
  29  SideTable          0.793          0.001          -1.817         0              90             0
  30  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  31  Faucet             -2.431         0.982          -0.660         0              90             0
  32  Faucet             -1.909         0.666          -3.855         0              180            0
  33  NorthWall
  34  EastWall
  35  SouthWall
  36  WestWall

Plan:
STEP 1: Turn around and cross the room to the toilet | STEP 2: take the toilet paper from off the holder | STEP 3: Turn around and cross the room to the cabinet | STEP 4: place toilet paper on the cabinet | END