Task: Place toilet paper rolls in cupboard below sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.899          -1.0           0              270            0
   1  SoapBar            -3.435         0.925          -0.870         0              90             0              43
   2  SoapBar            -1.695         1.043          -2.030         0              0              0              38
   3  Candle             -3.296         0.125          -1.997         0              0              0              21
   4  Candle             -3.295         0.124          -1.544         0              0              0              26
   5  SprayBottle        -3.482         0.084          -0.738         0              0              0              30
   6  SoapBottle         -3.545         0.084          -1.099         0              0              0              24
   7  SoapBottle         -3.483         0.084          -2.042         0              0              0              21
   8  HandTowel          -3.332         1.519          -2.160         0              180            0              36
   9  ToiletPaper        -3.569         0.118          -0.461         0              0              0              33
  10  Towel              0.136          1.121          -2.080         0              0              0              32
  11  Candle             -3.232         0.124          -0.872         0              0              0              30
  12  Cloth              -2.002         1.034          -2.086         0              343.825        0              38
  13  HandTowel          -3.711         1.474          -0.410         0              270            0              35
  14  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  15  SoapBottle         -3.357         0.084          -1.678         0              0              0              26
  16  SoapBar            -3.349         0.925          -1.829         0              90             0              34
  17  ToiletPaper        -3.350         0.907          -1.348         0              0              0              31
  18  ToiletPaper        -1.826         1.040          -1.999         0              0              0              38
  19  SprayBottle        -3.618         0.118          -0.461         0              0              0              33
  20  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  21  Cabinet            -3.169         0.370          -2.188         0              0              0
  22  Window             -1.737         1.292          -2.286         0              0              0
  23  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  24  Cabinet            -3.169         0.370          -1.379         0              0              0
  25  Mirror             -3.730         1.481          -1.427         0              0              0
  26  Cabinet            -3.169         0.370          -1.398         0              0              0
  27  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  28  Sink               -3.391         0.841          -1.828         0              90             0
  29  FloorLamp          -3.539         1.020          -0.932         0              90             0
  30  Cabinet            -3.169         0.370          -0.592         0              0              0
  31  CounterTop         -3.426         0.883          -1.384         0              0              0
  32  TowelHolder        0.136          1.106          -2.187         0              0              0
  33  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  34  SinkBasin          -3.392         0.916          -1.820         0              90             0
  35  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  36  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  37  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  38  Toilet             -1.896         -0.001         -1.738         0              90             0
  39  LightSwitch        -2.052         1.292          1.000          0              180            0
  40  FloorLamp          -3.539         1.020          -1.830         0              90             0
  41  ShowerHead         0.232          1.026          0.375          0              315            0
  42  Sink               -3.391         0.841          -0.931         0              90             0
  43  SinkBasin          -3.392         0.916          -0.923         0              90             0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Walk forward towards sink | STEP 2: Pick up toilet paper off of counter | STEP 3: Turn around, walk forward, turn around | STEP 4: Open cupboard below sink, place toilet paper in cupboard, close cupboard | STEP 5: Turn around, walk around toilet, turn to face sinks | STEP 6: Pick up empty toilet paper on top of toilet | STEP 7: Walk around toilet, walk forward towards sink | STEP 8: Open cupboard below sink, place empty toilet paper in cupboard, close cupboard | END