Task: Put a roll of toilet paper and an empty roll under the sink.

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: Forward, then turn right and go to the wall. | STEP 2: Pick up the cylinder on the floor, behind the toilet brush. | STEP 3: Turn right and look down in the cabinet under the sink. | STEP 4: Put the cylinder in the cabinet under the sink, to the right. | STEP 5: Turn right, move forward, then turn right and go around the toilet. | STEP 6: Take the toilet paper from the back of the toilet. | STEP 7: Turn right move forward with the shower, turn left toward the sink, then turn left to go to the wall, and turn right to face the sink and look down at the cabinets. | STEP 8: Put the toilet paper in the right cabinet under the sink. | END