Task: place a toilet roll with a toilet roll holder on the shelf

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           0.900          1.25           0              270            0
   1  TissueBox          -1.825         0.518          0.363          0              0              0              18
   2  TissueBox          -0.872         1.134          0.407          0              0              0              30
   3  Candle             -0.318         0.952          2.642          0              270            0              38
   4  SoapBottle         -0.203         0.030          0.209          0              0              0              41
   5  SoapBottle         -0.633         1.137          0.347          0              0              0              30
   6  HandTowel          -1.296         1.765          0.040          0              180            0              36
   7  SoapBar            -2.016         0.124          0.263          0              0              0              18
   8  ToiletPaper        -0.921         1.124          0.210          0              0              0              30
   9  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
  10  Candle             -0.753         1.134          0.228          0              0              0              30
  11  TissueBox          -2.042         0.846          2.144          0              0              0              22
  12  ToiletPaper        -0.067         1.015          2.171          0              270            270            35
  13  SoapBottle         -2.111         0.127          0.314          0              0              0              18
  14  SprayBottle        -2.037         1.584          2.096          0              0              0              28
  15  Towel              -2.760         1.569          0.107          0              0              0              33
  16  Cloth              -2.016         0.517          0.263          0              0              0              18
  17  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  18  Cabinet            -2.344         0.457          0.524          0              0              0
  19  Drawer             -0.813         0.956          0.384          0              270            0
  20  Cabinet            -1.891         0.443          1.982          0              0              0
  21  Cabinet            -0.605         0.457          0.524          0              0              0
  22  Drawer             -2.032         0.942          2.190          0              0              0
  23  Bathtub            -3.450         0.178          1.029          0              0              0
  24  CounterTop         -1.919         0.0            0.288          0              0              0
  25  Sink               -1.924         0.772          0.326          0              0              0
  26  Mirror             -1.934         1.666          0.107          0              0              0
  27  Faucet             -1.925         0.958          0.179          0              0              0
  28  Cabinet            -1.891         1.884          2.391          0              0              0
  29  Cabinet            -0.605         1.988          0.524          0              0              0
  30  CounterTop         -0.812         0.093          0.288          0              0              0
  31  Shelf              -2.029         1.183          2.189          0              0              0
  32  Shelf              -2.123         1.393          2.189          0              0              0
  33  TowelHolder        -2.760         1.555          0.000          0              0              0
  34  LightSwitch        0.0            1.427          1.993          0              270            0
  35  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  36  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  37  Window             -4.149         1.717          1.154          90             270            0
  38  Toilet             -0.456         -0.000         2.257          0              180            0
  39  BathtubBasin       -3.520         0.210          0.940          0              0              0
  40  SinkBasin          -1.931         0.841          0.320          0              0              0
  41  GarbageCan         -0.257         -0.000         0.259          0              0              0
  42  ShowerHead         -3.522         1.719          1.776          0              0              0
  43  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: move around to the toilet | STEP 2: pick up the a toilet roll holder from the ground | STEP 3: move left to the shelf, | STEP 4: place the toilet roll holder on the shelf | STEP 5: turn left and move to the top of the cupboard | STEP 6: pick up a toilet roll from there | STEP 7: turn around and head to the shelf | STEP 8: place the toilet roll on the shelf | END