Task: To add the roll and the toilet paper onto the counter

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          0.903          4.0            0              180            0
   1  Candle             0.699          1.056          4.342          0              270            0              31
   2  Candle             -0.327         0.713          0.098          0              0              0              19
   3  SprayBottle        0.305          0.098          3.070          0              0              0              18
   4  SprayBottle        -0.167         0.153          1.315          0              90             0              30
   5  Towel              -2.393         1.478          0.580          0              90             0              25
   6  Candle             0.298          1.063          4.116          0              0              0              22
   7  Cloth              -2.322         0.704          0.863          0              0              0              19
   8  HandTowel          0.397          1.656          2.039          0              180            0              29
   9  Plunger            0.480          0.002          4.793          0              0              0
  10  SoapBar            0.081          1.054          3.629          0              0              0              22
  11  ToiletPaper        -0.047         0.971          4.911          0              180            90             26
  12  ToiletPaper        0.729          1.044          4.539          0              270            0              31
  13  SoapBottle         0.659          1.081          2.949          0              270            0              16
  14  SprayBottle        0.232          0.098          3.655          0              0              0              18
  15  ScrubBrush         0.688          0.002          4.867          0              0              0
  16  Sink               0.426          1.037          2.947          0              270            0
  17  Window             -2.548         1.673          2.405          0              0              0
  18  Cabinet            0.068          0.366          3.772          0              0              0
  19  Bathtub            -1.042         0.155          0.558          0              0              0
  20  SinkBasin          0.404          0.926          2.926          0              270            0
  21  Mirror             0.858          1.863          2.972          0              0              0
  22  CounterTop         0.487          1.015          3.090          0              0              0
  23  Faucet             -0.207         0.687          0.546          0              0              0
  24  Cabinet            0.074          0.379          2.045          0              0              0
  25  TowelHolder        -2.5           1.463          0.579          0              90             0
  26  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  27  LightSwitch        -1.121         1.333          5.000          0              180            0
  28  BathtubBasin       -1.062         0.153          0.556          0              0              0
  29  HandTowelHolder    0.398          1.758          2.000          0              270            0
  30  GarbageCan         -0.229         0.001          1.445          0              270            0
  31  Toilet             0.376          0.002          4.470          0              0              0
  32  Faucet             0.661          1.043          3.371          0              270            0
  33  Faucet             0.661          1.043          2.520          0              270            0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Turn left, then turn right step up towards the door and then turn right and face the toilet. | STEP 2: Pick up the roll from the back of the toilet. | STEP 3: Turn right then turn left and face the counter | STEP 4: Place the roll onto the counter above the soap to the left. | STEP 5: Turn right, then turn left, then turn right again walk towards the walk turn right again and face the toilet. | STEP 6: Take the toilet paper off of the toilet paper holder. | STEP 7: Turn right then turn left walk toward the counter | STEP 8: Place the toilet paper next to the soap on the right. | END