Task: put two toilet paper objects inside the bottom left cabinet of the left side sink

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.902          -0.75          0              180            0
   1  Cloth              -2.992         0.081          0.567          0              90             0              18
   2  Cloth              -1.777         0.081          0.696          0              90             0              22
   3  SoapBar            -2.823         0.182          -1.584         0              0              0              30
   4  SoapBar            -0.991         1.045          0.937          0              180            0              35
   5  SprayBottle        -2.890         0.184          -1.535         0              0              0              30
   6  SprayBottle        -0.991         1.047          0.784          0              180            0              35
   7  Towel              -0.490         1.367          0.902          0              180            0              29
   8  Candle             -2.451         0.122          0.889          0              0              0              20
   9  HandTowel          -3.096         1.587          0.744          0              270            0              33
  10  SoapBar            -0.188         0.517          0.178          0              0              0              21
  11  ToiletPaper        -1.416         0.816          0.665          0              90             270            34
  12  Cloth              -2.407         0.081          0.631          0              270            0              20
  13  ToiletPaper        -2.991         0.179          -1.584         0              0              0              30
  14  SprayBottle        -2.138         0.082          0.567          0              0              0              23
  15  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  16  SoapBottle         -2.093         0.083          0.696          0              0              0              23
  17  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  18  Cabinet            -3.094         0.390          0.421          0              0              0
  19  CounterTop         -2.298         0.953          0.689          0              0              0
  20  Cabinet            -2.305         0.415          0.425          0              0              0
  21  Bathtub            0.286          0.290          -0.077         0              0              0
  22  Cabinet            -1.496         0.415          0.425          0              0              0
  23  Cabinet            -2.286         0.390          0.421          0              0              0
  24  Sink               -1.924         0.930          0.675          0              180            0
  25  Faucet             -1.922         1.015          0.887          0              0              0
  26  Mirror             -2.306         1.526          1.001          0              0              0
  27  Faucet             -2.681         1.015          0.887          0              0              0
  28  LightSwitch        -1.389         1.263          -1.693         0              0              0
  29  TowelHolder        -0.490         1.353          1.009          0              180            0
  30  GarbageCan         -2.857         0.016          -1.487         0              0              0
  31  BathtubBasin       0.349          0.023          -0.135         0              270            0
  32  SinkBasin          -1.908         0.961          0.669          0              180            0
  33  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  34  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  35  Toilet             -1.054         0.001          0.552          0              270            0
  36  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  37  Faucet             0.270          0.670          0.906          0              0              0
  38  SinkBasin          -2.666         0.961          0.669          0              180            0
  39  Sink               -2.681         0.930          0.675          0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: turn around and walk forwards to the space in between the toilet and the bathroom sink cabinet | STEP 2: grab the toilet paper roll off of the toilet paper holder | STEP 3: back up a bit and move to the left to face the cabinet again | STEP 4: place the toilet paper inside the cabinet to the bottom left of the left side sink | STEP 5: turn around and walk over to the left side of the garbage bin in the corner of the room on the right | STEP 6: grab the toilet paper roller tube out of the trash there | STEP 7: turn right and walk over to the left side of the bathroom cabinet again | STEP 8: place the tube inside of the bottom left cabinet where you put the toilet paper | END