Task: put toilet roll and paper on sink counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.903          4.25           0              0              0
   1  Cloth              -0.503         0.164          0.375          0              0              0              29
   2  SoapBar            0.064          1.054          2.843          0              0              0              23
   3  SprayBottle        0.597          0.098          2.158          0              0              0              25
   4  SoapBottle         -0.122         0.155          1.349          0              90             0              31
   5  SoapBottle         0.578          1.058          3.781          0              0              0              23
   6  Towel              -2.393         1.478          0.580          0              90             0              26
   7  Candle             -0.093         0.713          0.863          0              0              0              20
   8  Cloth              0.379          0.097          2.545          0              0              0              25
   9  HandTowel          0.397          1.656          2.039          0              180            0              30
  10  Plunger            0.480          0.002          4.793          0              0              0
  11  SoapBar            0.594          0.097          3.558          0              0              0              19
  12  ToiletPaper        -0.119         0.701          0.280          0              0              0              20
  13  ToiletPaper        -0.047         0.971          4.911          0              180            90             27
  14  SoapBottle         -2.177         0.707          1.099          0              0              0              20
  15  SprayBottle        0.729          1.048          4.342          0              270            0              32
  16  ScrubBrush         0.688          0.002          4.867          0              0              0
  17  Sink               0.426          1.037          2.947          0              270            0
  18  Window             -2.548         1.673          2.405          0              0              0
  19  Cabinet            0.068          0.366          3.772          0              0              0
  20  Bathtub            -1.042         0.155          0.558          0              0              0
  21  SinkBasin          0.404          0.926          2.926          0              270            0
  22  Mirror             0.858          1.863          2.972          0              0              0
  23  CounterTop         0.487          1.015          3.090          0              0              0
  24  Faucet             -0.207         0.687          0.546          0              0              0
  25  Cabinet            0.074          0.379          2.045          0              0              0
  26  TowelHolder        -2.5           1.463          0.579          0              90             0
  27  ToiletPaperHanger  -0.081         0.971          5.0            0              180            0
  28  LightSwitch        -1.121         1.333          5.000          0              180            0
  29  BathtubBasin       -1.062         0.153          0.556          0              0              0
  30  HandTowelHolder    0.398          1.758          2.000          0              270            0
  31  GarbageCan         -0.229         0.001          1.445          0              270            0
  32  Toilet             0.376          0.002          4.470          0              0              0
  33  Faucet             0.661          1.043          3.371          0              270            0
  34  Faucet             0.661          1.043          2.520          0              270            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: walk to face toilet | STEP 2: pick up toilet roll from ground to the left of toilet | STEP 3: walk to face sink | STEP 4: put toilet roll on counter next to sink | STEP 5: walk to face top of bath tub | STEP 6: pick up toilet paper from tub edge | STEP 7: walk to face sink | STEP 8: put toilet paper on counter next to sink | END