Task: put two rolls of toilet paper in cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.902          2.5            0              0              0
   1  Candle             -2.520         1.214          1.490          0              270            0              38
   2  SoapBar            -2.540         1.664          3.327          0              0              0              34
   3  SprayBottle        -2.933         1.078          0.849          0              90             0              47
   4  SprayBottle        -2.811         1.078          0.849          0              90             0              47
   5  DishSponge         -2.546         0.746          3.312          0              0              0              33
   6  SoapBottle         -2.841         1.077          0.652          0              90             0              47
   7  SoapBottle         -2.610         0.903          3.477          0              0              0              29
   8  ToiletPaper        -2.701         1.202          1.430          0              270            0              38
   9  Towel              -0.106         1.510          1.943          0              270            0              39
  10  Candle             -2.540         1.673          3.440          0              0              0              34
  11  SoapBottle         -2.664         1.663          3.149          0              0              0              31
  12  HandTowel          -2.698         1.521          2.867          0              0              0              40
  13  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  14  SoapBar            -2.491         0.746          3.094          0              0              0              33
  15  ToiletPaper        -2.429         1.202          1.490          0              270            0              38
  16  Cloth              -2.678         0.929          1.714          0              0              0              37
  17  ToiletPaper        -2.903         1.074          0.455          0              90             0              47
  18  SprayBottle        -2.651         0.093          3.151          0              0              0              36
  19  PaperTowelRoll     -0.183         0.157          0.187          0              270            0              43
  20  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  21  DishSponge         -2.601         0.746          3.094          0              0              0              33
  22  Cabinet            -2.410         0.371          2.862          0              0              0
  23  Mirror             -2.973         1.613          2.265          0              0              0
  24  Bathtub            -0.435         0.182          1.575          0              0              0
  25  Cabinet            -2.410         0.371          3.570          0              0              0
  26  Cabinet            -2.410         0.371          2.040          0              0              0
  27  Cabinet            -2.410         1.261          2.913          0              0              0
  28  Faucet             -0.769         0.416          1.0            0              9.958          0
  29  Cabinet            -2.410         1.261          3.570          0              0              0
  30  Sink               -2.723         0.862          2.231          0              90             0
  31  Cabinet            -2.410         2.022          2.913          0              0              0
  32  Cabinet            -2.410         0.371          1.585          0              0              0
  33  Drawer             -2.638         0.767          3.239          0              0              0
  34  Cabinet            -2.410         2.022          3.570          0              0              0
  35  Faucet             -2.928         0.978          2.231          0              90             0
  36  Cabinet            -2.410         0.371          2.913          0              0              0
  37  CounterTop         -2.688         0.966          2.260          0              0              0
  38  CounterTop         -2.611         1.243          1.455          0              270            0
  39  TowelHolder        0.0            1.496          1.942          0              270            0
  40  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  41  Window             -2.256         1.656          -0.021         90             0              0
  42  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  43  GarbageCan         -0.403         -0.027         0.241          0              0              0
  44  BathtubBasin       -0.435         0.185          1.544          0              0              0
  45  SinkBasin          -2.736         0.929          2.241          0              90             0
  46  LightSwitch        -1.675         1.442          3.610          0              180            0
  47  Toilet             -2.579         0.032          0.656          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn around, walk forward, turn right to face ledge with toilet paper on it | STEP 2: pick up the toilet paper that is on the ledge | STEP 3: move a few steps to the right to face counter | STEP 4: put toilet paper in cabinet under the sink | STEP 5: take a few steps to the left | STEP 6: pick up the toilet paper that is on the ledge | STEP 7: take a few steps to the right | STEP 8: put toilet paper in cabinet under the sink | END