Task: Take empty toilet paper roll from the cupboard and place on toilet paper holder.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.900          -1.0           0              90             0
   1  SoapBar            -1.989         0.908          -1.690         0              0              0              23
   2  SoapBar            -1.901         0.016          -1.639         0              0              0              29
   3  Candle             -0.137         0.015          -1.688         0              0              0              26
   4  Candle             -1.994         1.042          0.075          0              90             0              41
   5  SprayBottle        -0.254         0.018          -1.435         0              0              0              26
   6  SoapBottle         -1.902         1.046          0.272          0              90             0              41
   7  SoapBottle         -0.744         0.018          -1.588         0              0              0              20
   8  Towel              0.89           1.368          -1.755         0              0              0              33
   9  HandTowel          -2.028         1.492          -1.482         0              270            0              39
  10  SoapBar            -1.932         1.044          0.403          0              90             0              41
  11  ToiletPaper        -1.088         0.905          -1.554         0              0              0              23
  12  ToiletPaper        -1.960         0.013          -1.486         0              0              0              29
  13  Cloth              -1.487         0.926          -1.534         347.851        0              0              38
  14  SprayBottle        -0.920         0.017          -1.486         0              0              0              20
  15  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  16  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  17  Candle             -1.841         1.042          0.403          0              90             0              41
  18  SoapBottle         -1.902         1.046          0.140          0              90             0              41
  19  Cabinet            -1.052         0.340          -1.327         0              0              0
  20  Cabinet            -1.039         0.340          -1.327         0              0              0
  21  ShowerGlass        0.919          1.417          -0.206         0              0              0
  22  Sink               -1.560         0.811          -1.598         0              0              0
  23  CounterTop         -1.041         0.884          -1.531         0              0              0
  24  ShowerDoor         0.451          0.926          0.696          0              0              0
  25  Faucet             -0.505         0.898          -1.779         0              0              0
  26  Cabinet            -0.071         0.340          -1.327         0              0              0
  27  Mirror             -1.014         1.501          -1.840         0              0              0
  28  Bathtub            0.883          0.392          -1.154         0              0              0
  29  Cabinet            -2.020         0.340          -1.327         0              0              0
  30  Sink               -0.526         0.811          -1.598         0              0              0
  31  Window             1.532          1.672          -1.037         0              0              0
  32  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  33  TowelHolder        0.889          1.353          -1.861         0              0              0
  34  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  35  LightSwitch        0.224          1.333          0.762          0              180            0
  36  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  37  BathtubBasin       0.938          0.160          -1.126         0              270            0
  38  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  39  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  40  GarbageCan         0.122          -0.002         -1.558         0              270            0
  41  Toilet             -1.610         -0.000         0.209          0              180            0
  42  Faucet             -1.537         0.898          -1.779         0              0              0
  43  Faucet             0.929          0.509          -1.978         0              0              0
  44  Faucet             0.890          1.689          0.724          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Go to the cupboard under the sink next to the wall. | STEP 2: Take out the empty toilet paper roll from the cupboard. | STEP 3: Go to the toilet where the toilet paper holder is on the wall. | STEP 4: Place the empty toilet paper roll on the holder. | END