Task: put a toilet paper roll and toilet paper into 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              -1.5           0.902          2.75           0              90             0
   1  Towel              -0.106         1.510          1.943          0              270            0              31
   2  Candle             -2.595         0.915          3.111          0              0              0              19
   3  SoapBottle         -2.604         0.928          1.672          0              0              0              29
   4  HandTowel          -2.698         1.521          2.867          0              0              0              32
   5  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
   6  SoapBar            -2.736         0.937          2.081          0              90             0              37
   7  ToiletPaper        -2.701         1.202          1.520          0              270            0              30
   8  Cloth              -2.724         1.664          3.111          0              0              0              23
   9  ToiletPaper        -0.230         0.053          0.274          0              270            0              35
  10  SprayBottle        -2.609         0.090          1.883          0              0              0              24
  11  PaperTowelRoll     -2.530         1.034          2.649          0              0              0              29
  12  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  13  DishSponge         -2.903         1.078          0.521          0              90             0              39
  14  Cabinet            -2.410         0.371          2.862          0              0              0
  15  Mirror             -2.973         1.613          2.265          0              0              0
  16  Bathtub            -0.435         0.182          1.575          0              0              0
  17  Cabinet            -2.410         0.371          3.570          0              0              0
  18  Cabinet            -2.410         0.371          2.040          0              0              0
  19  Cabinet            -2.410         1.261          2.913          0              0              0
  20  Faucet             -0.769         0.416          1.0            0              9.958          0
  21  Cabinet            -2.410         1.261          3.570          0              0              0
  22  Sink               -2.723         0.862          2.231          0              90             0
  23  Cabinet            -2.410         2.022          2.913          0              0              0
  24  Cabinet            -2.410         0.371          1.585          0              0              0
  25  Drawer             -2.638         0.767          3.239          0              0              0
  26  Cabinet            -2.410         2.022          3.570          0              0              0
  27  Faucet             -2.928         0.978          2.231          0              90             0
  28  Cabinet            -2.410         0.371          2.913          0              0              0
  29  CounterTop         -2.688         0.966          2.260          0              0              0
  30  CounterTop         -2.611         1.243          1.455          0              270            0
  31  TowelHolder        0.0            1.496          1.942          0              270            0
  32  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  33  Window             -2.256         1.656          -0.021         90             0              0
  34  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  35  GarbageCan         -0.403         -0.027         0.241          0              0              0
  36  BathtubBasin       -0.435         0.185          1.544          0              0              0
  37  SinkBasin          -2.736         0.929          2.241          0              90             0
  38  LightSwitch        -1.675         1.442          3.610          0              180            0
  39  Toilet             -2.579         0.032          0.656          0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: turn right and walk straight towards the wall then turn left and walk towards the garbage can | STEP 2: take the toilet paper roll out of the garbage | STEP 3: turn around and walk straight towards the toilet and turn right and walk straight then turn left towards the sink and look down | STEP 4: open the cabinet door and put the roll inside and close the door | STEP 5: turn left then turn right towards the counter  | STEP 6: pick up the toilet paper off of the counter | STEP 7: turn right then turn right again and walk straight then turn right again and then turn right again towards the sink | STEP 8: open the cabinet below the sink and put the toilet paper inside | END