Task: Put an empty roll and a full roll of toilet paper in a sink cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.901          2.5            0              90             0
   1  TissueBox          -1.416         0.994          3.159          0              0              0              31
   2  TissueBox          -1.319         0.068          2.290          0              0              0              26
   3  Cloth              -1.416         0.994          2.209          0              0              0              31
   4  Cloth              -1.416         0.994          3.842          0              0              0              31
   5  SoapBar            -1.284         0.994          3.041          0              0              0              31
   6  SprayBottle        0.286          0.048          3.810          0              0              0              34
   7  SprayBottle        -1.441         0.069          2.857          0              0              0              30
   8  SoapBottle         -1.547         0.993          3.159          0              0              0              31
   9  SoapBottle         -1.284         0.993          2.269          0              0              0              31
  10  ToiletPaper        -1.350         0.991          2.982          0              0              0              31
  11  Towel              -0.200         1.174          1.286          0              0              0              33
  12  HandTowel          -1.275         1.6            3.961          0              0              0              35
  13  SoapBar            -1.294         1.018          3.562          0              90             0              44
  14  ToiletPaper        -1.284         0.991          3.903          0              0              0              31
  15  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  16  Candle             -1.441         0.068          2.706          0              0              0              24
  17  TissueBox          -1.501         0.069          3.693          0              0              0              32
  18  SoapBottle         -1.560         0.067          3.377          0              0              0              30
  19  ToiletPaper        0.356          0.809          1.299          0              270            270            39
  20  SprayBottle        -1.322         0.069          3.844          0              0              0              32
  21  Cloth              -1.379         0.067          3.327          0              0              0              30
  22  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  23  Mirror             -1.703         1.661          3.509          0              0              0
  24  Cabinet            -1.187         0.394          3.030          0              0              0
  25  ShowerDoor         -1.631         1.014          1.170          0              0              0
  26  Cabinet            -1.187         0.394          2.127          0              0              0
  27  Sink               -1.326         0.960          2.567          0              90             0
  28  ShowerGlass        0.254          0.788          0.485          0              0              0
  29  Mirror             -1.703         1.661          2.480          0              0              0
  30  Cabinet            -1.187         0.394          3.063          0              0              0
  31  CounterTop         -1.348         0.972          2.945          0              0              0
  32  Cabinet            -1.187         0.394          3.966          0              0              0
  33  TowelHolder        -0.200         1.160          1.179          0              0              0
  34  GarbageCan         0.209          0.000          3.772          0              0              0
  35  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  36  Window             -0.726         1.667          -0.009         90             0              0
  37  Toilet             -0.039         0.090          1.733          0              270            0
  38  SinkBasin          -1.317         0.998          2.567          0              90             0
  39  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  40  LightSwitch        0.444          1.368          3.323          0              270            0
  41  Faucet             -1.587         0.960          3.513          0              90             0
  42  ShowerHead         -1.618         1.251          0.558          0              180            0
  43  Sink               -1.325         0.960          3.512          0              90             0
  44  SinkBasin          -1.317         0.998          3.513          0              90             0
  45  Faucet             -1.587         0.960          2.569          0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Go to the sinktop | STEP 2: Pick up a toilet roll | STEP 3: Go to the sink cabinet | STEP 4: Put the roll in the cabinet | STEP 5: Go to the right of the sink | STEP 6: Pick up a roll of toilet paper | STEP 7: Go to the sink cabinet | STEP 8: Put the roll in the cabinet | END