Task: Place a roll of toilet paper and a cup on the back of a toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          2.75           0              270            0
   1  Cloth              0.303          1.163          3.797          0              0              0              34
   2  Towel              -0.07          1.284          0.106          0              0              0              24
   3  HandTowel          -1.731         1.333          3.961          0              0              0              26
   4  SoapBar            -1.787         0.067          2.565          0              0              0              16
   5  ToiletPaper        -1.831         0.584          2.390          0              180            90             29
   6  ToiletPaper        -1.707         0.064          2.709          0              0              0              16
   7  Cloth              -0.972         0.074          0.501          0              315            0              15
   8  SprayBottle        -1.887         0.772          3.172          0              0              0              14
   9  Candle             -1.743         0.772          3.172          0              0              0              14
  10  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  11  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  12  SoapBottle         -1.827         0.069          3.319          0              0              0              23
  13  Bathtub            -1.414         -0.002         0.563          0              0              0
  14  CounterTop         -1.799         0.746          3.122          0              0              0
  15  BathtubBasin       -1.613         0.052          0.540          0              0              0
  16  Cabinet            -1.613         0.309          2.493          0              0              0
  17  ShowerDoor         0.527          1.037          2.115          0              0              0
  18  Mirror             -1.993         1.424          3.107          0              0              0
  19  Cabinet            -1.613         0.309          3.754          0              0              0
  20  Faucet             -1.873         0.461          0.641          0              0              0
  21  Sink               -1.834         0.685          2.777          0              90             0
  22  Cabinet            -1.613         0.309          3.105          0              0              0
  23  Cabinet            -1.613         0.309          3.140          0              0              0
  24  TowelHolder        -0.070         1.269          0.0            0              0              0
  25  GarbageCan         0.932          -0.029         3.761          0              0              0
  26  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  27  Window             -1.039         1.393          0.018          90             0              0
  28  Window             -1.986         1.392          0.706          90             90             0
  29  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  30  SinkBasin          -1.795         0.694          2.781          0              90             0
  31  LightSwitch        1.250          1.330          3.621          0              270            0
  32  Toilet             -1.567         -0.000         1.815          0              180            0
  33  Drawer             0.204          0.940          3.807          0              180            0
  34  Dresser            0.204          0.000          3.832          0              180            0
  35  Drawer             0.204          0.160          3.807          0              180            0
  36  Drawer             0.204          0.420          3.807          0              180            0
  37  Drawer             0.204          0.680          3.807          0              180            0
  38  SinkBasin          -1.795         0.694          3.476          0              90             0
  39  Sink               -1.833         0.685          3.472          0              90             0
  40  Faucet             -1.988         0.947          3.472          0              180            0
  41  ShowerHead         0.972          1.222          2.015          0              270            0
  42  Faucet             -1.988         0.947          2.776          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Stand in front of the roll of toilet on the left side of the sink. | STEP 2: Take the roll of toilet paper from the holder. | STEP 3: Turn right, take a step in that direction, then left. | STEP 4: Head towards the toilet on the left side of the sink. | STEP 5: Place the roll of toilet on the back of the toilet. | STEP 6: Turn around towards the sink then stand in front of it. | STEP 7: Open the left cabinet door underneath the sink, remove the cup in the cabinet, then close the door. | STEP 8: Turn back towards the toilet, place the cup on the left of the toilet paper. | END