Task: Take the empty toilet paper roll off.

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          0.901          2.0            0              0              0
   1  Cloth              -0.178         0.075          2.291          0              270            0              29
   2  SprayBottle        -0.279         0.076          3.100          0              0              0              28
   3  Candle             -0.331         0.076          3.507          0              0              0              28
   4  Candle             -0.388         0.954          2.843          0              0              0              27
   5  SoapBar            -0.131         0.953          1.481          0              0              0              35
   6  SoapBar            -0.051         0.953          1.294          0              0              0              35
   7  SoapBottle         -0.330         0.076          2.336          0              0              0              29
   8  SoapBottle         -0.382         0.077          2.654          0              0              0              24
   9  ToiletPaper        -0.326         0.951          2.913          0              0              0              27
  10  HandTowel          -0.038         1.619          1.887          0              90             0              33
  11  Towel              -1.082         1.326          1.302          0              0              0              30
  12  SoapBar            -0.302         0.826          2.378          0              0              0              41
  13  ToiletPaper        -0.117         0.945          1.629          0              0              0              35
  14  Plunger            -0.112         -0.000         1.848          0              0              0
  15  Candle             -0.264         0.954          2.948          0              0              0              27
  16  ToiletPaper        -0.280         0.654          1.985          0              180            90             32
  17  SprayBottle        -0.141         0.955          2.913          0              0              0              27
  18  Cloth              -0.230         0.076          3.417          0              180            0              28
  19  ScrubBrush         -0.322         3.109          1.950          0              0              0
  20  SoapBottle         -0.388         0.955          2.772          0              0              0              27
  21  Mirror             -0.030         1.544          2.864          0              0              0
  22  Sink               -0.302         0.799          3.263          0              270            0
  23  Cabinet            -0.491         0.404          2.863          0              0              0
  24  Cabinet            -0.495         0.384          2.842          0              0              0
  25  ShowerDoor         -1.647         1.017          1.180          0              0              0
  26  ShowerGlass        -0.909         0.788          0.485          0              0              0
  27  CounterTop         -0.261         0.927          2.843          0              0              0
  28  Cabinet            -0.495         0.384          3.650          0              0              0
  29  Cabinet            -0.491         0.404          2.055          0              0              0
  30  TowelHolder        -1.082         1.312          1.195          0              0              0
  31  LightSwitch        -2.424         1.447          3.338          0              90             0
  32  ToiletPaperHanger  -0.266         0.786          2.043          0              180            0
  33  HandTowelHolder    0.000          1.721          1.887          0              180            0
  34  HandTowelHolder    0.000          1.721          3.799          0              180            0
  35  Toilet             -0.542         3.109          1.493          0              270            0
  36  GarbageCan         -2.159         -0.000         3.756          0              0              0
  37  SinkBasin          -0.308         0.820          3.266          0              0              0
  38  ShowerHead         -0.134         1.888          0.564          0              90             0
  39  Faucet             0.0            1.009          3.265          0              0              0
  40  Faucet             0.0            1.009          2.421          0              0              0
  41  SinkBasin          -0.308         0.820          2.422          0              0              0
  42  Sink               -0.302         0.799          2.419          0              270            0
  43  NorthWall
  44  SouthWall
  45  SouthWall

Plan:
STEP 1: Turn right and go to the toilet.   | STEP 2: Pick up the roll of paper towels on the back of the toilet. | STEP 3: Turn all the way around move towards the door some and then turn back around. | STEP 4: Open the cabinet door under the sink.  Place the paper towels under the sink to the right of the object under there. | STEP 5: Shut the door to the cabinet | STEP 6: Take the empty roll of toilet paper off the holder. | STEP 7: Open the door to the cabinet under the sink. | STEP 8: Place the empty roll to the left of the green bottle. Shut the door to the cabinet. | END