Task: move empty toilet paper roll from shelf to 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          0.901          2.75           0              0              0
   1  Cloth              0.025          0.053          1.575          0              0              0              24
   2  Cloth              0.025          0.053          1.114          0              0              0              24
   3  SoapBar            -0.142         0.052          1.114          0              0              0              24
   4  Candle             0.355          1.048          3.166          0              270            0              39
   5  SprayBottle        -3.206         0.236          0.156          0              270            0              43
   6  DishSponge         0.297          0.632          -0.124         0              47.956         0              27
   7  DishSponge         -0.395         0.054          0.423          0              0              0              24
   8  Towel              -2.05          1.059          -0.183         0              0              0              29
   9  HandTowel          -3.419         1.338          2.102          0              270            0              37
  10  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  11  SoapBar            0.385          1.046          3.034          0              270            0              39
  12  ToiletPaper        -2.855         1.540          3.849          0              0              0              35
  13  SoapBottle         0.447          1.049          2.903          0              270            0              39
  14  ToiletPaper        -2.310         0.777          3.875          0              0              0              32
  15  Cloth              -3.319         0.863          0.078          0              270            0              43
  16  PaperTowelRoll     -3.376         0.969          0.390          0              270            0              43
  17  Candle             -3.150         0.864          0.156          0              270            0              43
  18  SprayBottle        -3.093         0.864          0.000          0              270            0              43
  19  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  20  DishSponge         -3.150         0.236          0.078          0              270            0              43
  21  Faucet             -0.141         0.524          -0.211         0              0              0
  22  Window             -1.507         1.322          -0.364         0              0              0
  23  Faucet             -3.401         1.017          1.531          0              90             0
  24  BathtubBasin       -0.155         0.042          0.884          0              0              0
  25  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  26  ShowerHead         -0.126         1.447          2.047          0              270            0
  27  Bathtub            -0.205         0.359          0.924          0              0              0
  28  Mirror             -3.447         1.575          1.516          0              0              0
  29  TowelHolder        -2.049         1.045          -0.290         0              0              0
  30  TowelHolder        -1.304         1.045          -0.290         0              0              0
  31  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  32  Shelf              -2.587         0.778          3.909          0              0              0
  33  Shelf              -2.587         1.287          3.941          0              0              0
  34  Shelf              -2.587         1.032          3.941          0              0              0
  35  Shelf              -2.587         1.534          3.909          0              0              0
  36  GarbageCan         0.047          -0.002         3.878          0              0              0
  37  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  38  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  39  Toilet             0.063          0.002          3.096          0              0              0
  40  LightSwitch        -3.459         1.437          2.496          0              90             0
  41  Sink               -3.115         -0.013         1.531          0              90             0
  42  SinkBasin          -3.081         0.935          1.537          0              90             0
  43  SideTable          -3.171         0.002          0.170          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: turn left, walk to door, turn right, walk forward to shelves | STEP 2: pick up the empty toilet paper roll that is on the shelf | STEP 3: turn around, walk forward a few steps, turn left, walk forward | STEP 4: put empty toilet paper roll on toilet paper holder | END