Task: Put the toilet paper and the toilet paper tube inside the vanity.

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 completely around, walk to the window, turn to your right and face the toilet. | STEP 2: Pick up the roll of toilet paper on the back of the toilet. | STEP 3: Maneuver across the room so you are facing the waste basket next to the vanity. | STEP 4: Open the cabinet door in the vanity next to the waste basket, place the roll of toilet paper inside, and close the cabinet door. | STEP 5: Walk to the waste basket and look inside.  | STEP 6: Pick up the toilet paper roll tube that is inside the waste basket. | STEP 7: Maneuver so you are once again in the middle of the room facing the waste basket next to the vanity. | STEP 8: Open the cabinet door in the vanity next to the waste basket, place the toilet paper roll tube behind the roll of toilet paper inside the cabinet, and close the cabinet door. | END