Task: Put a new and empty toilet paper rolls into the cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.902          -0.5           0              180            0
   1  Cloth              0.419          0.034          -0.546         0              270            0              30
   2  Cloth              0.488          0.034          0.561          0              270            0              30
   3  Candle             -2.710         1.002          0.906          0              0              0              18
   4  SoapBar            -2.957         0.182          -1.584         0              0              0              29
   5  SoapBottle         -2.093         0.083          0.567          0              0              0              22
   6  Towel              -0.490         1.367          0.902          0              180            0              28
   7  Candle             -1.540         1.001          0.630          0              0              0              18
   8  HandTowel          -3.096         1.587          0.744          0              270            0              32
   9  SoapBar            -2.823         0.182          -1.535         0              0              0              29
  10  ToiletPaper        -1.416         0.816          0.665          0              90             270            33
  11  Cloth              -2.992         0.081          0.825          0              90             0              17
  12  ToiletPaper        -1.878         0.957          0.922          0              0              0              18
  13  SprayBottle        -1.642         0.082          0.825          0              0              0              21
  14  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  15  SoapBottle         -2.294         0.961          0.922          0              90             0              18
  16  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  17  Cabinet            -3.094         0.390          0.421          0              0              0
  18  CounterTop         -2.298         0.953          0.689          0              0              0
  19  Cabinet            -2.305         0.415          0.425          0              0              0
  20  Bathtub            0.286          0.290          -0.077         0              0              0
  21  Cabinet            -1.496         0.415          0.425          0              0              0
  22  Cabinet            -2.286         0.390          0.421          0              0              0
  23  Sink               -1.924         0.930          0.675          0              180            0
  24  Faucet             -1.922         1.015          0.887          0              0              0
  25  Mirror             -2.306         1.526          1.001          0              0              0
  26  Faucet             -2.681         1.015          0.887          0              0              0
  27  LightSwitch        -1.389         1.263          -1.693         0              0              0
  28  TowelHolder        -0.490         1.353          1.009          0              180            0
  29  GarbageCan         -2.857         0.016          -1.487         0              0              0
  30  BathtubBasin       0.349          0.023          -0.135         0              270            0
  31  SinkBasin          -1.908         0.961          0.669          0              180            0
  32  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  33  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  34  Toilet             -1.054         0.001          0.552          0              270            0
  35  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  36  Faucet             0.270          0.670          0.906          0              0              0
  37  SinkBasin          -2.666         0.961          0.669          0              180            0
  38  Sink               -2.681         0.930          0.675          0              180            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around and go to the left side of the toilet.  | STEP 2: Remove the toilet paper from the holder.  | STEP 3: Move over left to the right cabinet below the left sink. | STEP 4: Place the toilet paper in the cabinet.  | STEP 5: Move closer to the sink on the right. | STEP 6: Pick up the empty toilet paper roll behind the faucet. | STEP 7: Move back from the sink to be able to open the cabinet. | STEP 8: Place the empty toilet paper roll in the right cabinet below the left sink. | END