Task: move the toilet paper rolls from the top of the toilet to the cabinet below 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              -0.25          0.901          -1.25          0              0              0
   1  Cloth              -2.770         0.078          -0.573         0              0              0              24
   2  Candle             -0.679         1.046          -3.826         0              0              0              34
   3  Candle             -2.742         0.996          -2.218         0              0              0              21
   4  SoapBar            -0.745         1.045          -3.918         0              0              0              34
   5  SoapBar            -0.745         1.045          -3.795         0              0              0              34
   6  SoapBottle         -1.446         0.059          -0.139         0              180            0              24
   7  Towel              -1.051         1.535          -2.887         0              90             0              27
   8  HandTowel          -2.591         1.635          -0.047         0              0              0              29
   9  SoapBar            -2.618         0.079          -0.901         0              0              0              22
  10  ToiletPaper        -0.417         1.042          -3.856         0              0              0              34
  11  ToiletPaper        -0.548         1.042          -3.826         0              0              0              34
  12  SoapBottle         -2.567         0.082          -2.086         0              270            0              20
  13  Candle             -2.550         0.996          -0.277         0              0              0              21
  14  ScrubBrush         -1.048         0.000          -3.830         0              0              0              30
  15  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  16  Cloth              -2.770         0.079          -0.955         0              0              0              22
  17  SprayBottle        -0.614         1.046          -3.918         0              0              0              34
  18  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  19  Mirror             -2.947         1.559          -1.194         0              0              0
  20  Cabinet            -2.504         0.400          -2.208         0              0              0
  21  CounterTop         -2.744         0.986          -1.243         0              0              0
  22  Cabinet            -2.504         0.400          -1.238         0              0              0
  23  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  24  Cabinet            -2.508         0.426          -0.290         0              0              0
  25  Sink               -2.907         0.986          -1.761         0              90             0
  26  Cabinet            -2.508         0.426          -1.260         0              0              0
  27  TowelHolder        -1.158         1.521          -2.887         0              90             0
  28  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  29  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  30  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  31  Window             -0.566         1.730          -4.102         90             0              0
  32  LightSwitch        -1.332         1.391          0.001          0              180            0
  33  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  34  Toilet             -0.319         0.000          -3.533         0              90             0
  35  Faucet             -2.907         0.993          -1.761         0              90             0
  36  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  37  Sink               -2.907         0.986          -0.732         0              90             0
  38  Faucet             -2.907         0.993          -0.731         0              90             0
  39  ShowerHead         -2.868         1.219          -3.223         0              180            0
  40  EastWall
  41  EastWall
  42  SouthWall

Plan:
STEP 1: turn left and walk straight a bit then turn left towards the toilet | STEP 2: pick up the toilet paper roll off the toilet | STEP 3: turn left and walk straight then turn left again and walk straight towards the table and turn left and walk straight then turn right and walk straight then turn right towards the table | STEP 4: open the cabinet below the sink and put the toilet paper roll inside and close the door | STEP 5: turn around and walk straight then turn right towards the toilet | STEP 6: pick up the toilet paper roll off the toilet | STEP 7: turn around and walk straight then turn right towards the toilet | STEP 8: open the cabinet below the sink and put the toilet paper roll inside and close the door | END