Task: Put an empty roll and full roll of toilet paper in a cupboard.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.0           0.899          0.0            0              90             0
   1  SoapBar            -3.207         0.910          -1.348         0              0              0              29
   2  SoapBar            -3.392         0.925          -1.829         0              90             0              32
   3  Candle             -3.607         0.124          -1.678         0              0              0              24
   4  SprayBottle        -3.635         0.912          -1.444         0              0              0              29
   5  SprayBottle        -3.492         0.912          -1.316         0              0              0              29
   6  SoapBottle         -3.295         0.084          -1.634         0              0              0              24
   7  ToiletPaper        -3.618         0.118          -0.461         0              0              0              31
   8  Towel              0.136          1.121          -2.080         0              0              0              30
   9  Candle             -1.892         1.085          -1.999         0              0              0              36
  10  Cloth              -3.482         0.083          -1.634         0              0              0              24
  11  HandTowel          -3.332         1.519          -2.160         0              180            0              34
  12  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
  13  SoapBottle         -3.545         0.084          -1.188         0              0              0              22
  14  SoapBar            -3.435         0.925          -1.118         0              90             0              41
  15  ToiletPaper        -1.761         1.040          -1.999         0              0              0              36
  16  ToiletPaper        -2.305         0.755          -2.157         0              0              90             35
  17  SprayBottle        -1.826         1.045          -2.091         0              90             0              36
  18  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  19  Cabinet            -3.169         0.370          -2.188         0              0              0
  20  Window             -1.737         1.292          -2.286         0              0              0
  21  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  22  Cabinet            -3.169         0.370          -1.379         0              0              0
  23  Mirror             -3.730         1.481          -1.427         0              0              0
  24  Cabinet            -3.169         0.370          -1.398         0              0              0
  25  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  26  Sink               -3.391         0.841          -1.828         0              90             0
  27  FloorLamp          -3.539         1.020          -0.932         0              90             0
  28  Cabinet            -3.169         0.370          -0.592         0              0              0
  29  CounterTop         -3.426         0.883          -1.384         0              0              0
  30  TowelHolder        0.136          1.106          -2.187         0              0              0
  31  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  32  SinkBasin          -3.392         0.916          -1.820         0              90             0
  33  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  34  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  35  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  36  Toilet             -1.896         -0.001         -1.738         0              90             0
  37  LightSwitch        -2.052         1.292          1.000          0              180            0
  38  FloorLamp          -3.539         1.020          -1.830         0              90             0
  39  ShowerHead         0.232          1.026          0.375          0              315            0
  40  Sink               -3.391         0.841          -0.931         0              90             0
  41  SinkBasin          -3.392         0.916          -0.923         0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn to the right and go to the wall.  | STEP 2: Pick up the empty toilet paper roll that is on the floor behind the toilet bowl cleaner. | STEP 3: Turn to the right to face the leftmost sink. | STEP 4: Put the empty toilet paper roll in the right hand cupboard under the sink.  | STEP 5: Turn to the right, go forward, hang a right, go forward, hang a right and go to the back of the toilet. | STEP 6: Pick up the roll of toilet paper that is on the back of the toilet. | STEP 7: Turn to the right, go forward, hang a left, go forward, hang a left, go to the wall, turn to the right to face the sink. | STEP 8: Put the toilet paper in the right hand cupboard under the sink, behind the empty roll. | END