Task: Place toilet paper and orange object in lower right cabinet

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           0.899          -1.0           0              0              0
   1  SoapBar            -3.295         0.083          -1.499         0              0              0              22
   2  SoapBar            -3.358         0.083          -1.233         0              0              0              20
   3  Candle             -3.234         0.125          -1.054         0              0              0              20
   4  Candle             -1.826         1.085          -2.122         0              0              0              34
   5  SoapBottle         -3.278         0.911          -1.348         0              0              0              27
   6  Towel              0.136          1.121          -2.080         0              0              0              28
   7  Candle             -3.234         0.125          -2.131         0              0              0              17
   8  Cloth              -2.002         1.034          -2.086         0              343.825        0              34
   9  HandTowel          -3.711         1.474          -0.410         0              270            0              31
  10  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  11  SoapBottle         -3.483         0.084          -2.042         0              0              0              17
  12  SoapBar            -3.483         0.083          -1.278         0              0              0              20
  13  ToiletPaper        -1.695         1.040          -2.091         0              0              0              34
  14  ToiletPaper        -3.618         0.118          -0.436         0              0              0              29
  15  SprayBottle        -3.357         0.084          -0.738         0              0              0              26
  16  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  17  Cabinet            -3.169         0.370          -2.188         0              0              0
  18  Window             -1.737         1.292          -2.286         0              0              0
  19  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  20  Cabinet            -3.169         0.370          -1.379         0              0              0
  21  Mirror             -3.730         1.481          -1.427         0              0              0
  22  Cabinet            -3.169         0.370          -1.398         0              0              0
  23  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  24  Sink               -3.391         0.841          -1.828         0              90             0
  25  FloorLamp          -3.539         1.020          -0.932         0              90             0
  26  Cabinet            -3.169         0.370          -0.592         0              0              0
  27  CounterTop         -3.426         0.883          -1.384         0              0              0
  28  TowelHolder        0.136          1.106          -2.187         0              0              0
  29  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  30  SinkBasin          -3.392         0.916          -1.820         0              90             0
  31  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  32  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  33  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  34  Toilet             -1.896         -0.001         -1.738         0              90             0
  35  LightSwitch        -2.052         1.292          1.000          0              180            0
  36  FloorLamp          -3.539         1.020          -1.830         0              90             0
  37  ShowerHead         0.232          1.026          0.375          0              315            0
  38  Sink               -3.391         0.841          -0.931         0              90             0
  39  SinkBasin          -3.392         0.916          -0.923         0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: turn around, go to left side of toilet | STEP 2: pick up toilet paper from left side of toilet tank | STEP 3: go left around toilet to right side of counter | STEP 4: open lower right cabinet, place toilet paper in cabinet, close cabinet | STEP 5: look at gray bin to the right of cabinet | STEP 6: pick up orange object from gray bin | STEP 7: go to right end cabinet | STEP 8: open cabinet, place orange object behind toilet paper in cabinet, close cabinet | END