Task: Place a new and an empty toilet paper roll on a shelf

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.900          -3.0           0              0              0
   1  SoapBottle         -0.116         1.166          -3.693         0              90             0              34
   2  HandTowel          -0.038         1.481          -1.549         0              90             0              24
   3  HandTowel          -0.038         1.481          -2.661         0              90             0              23
   4  SoapBar            -0.280         0.868          -2.043         0              0              0              25
   5  ToiletPaper        -0.221         0.040          -2.772         0              90             0              28
   6  ToiletPaper        -0.148         1.161          -3.202         0              90             0              34
   7  Towel              -1.338         1.193          -0.106         0              180            0              21
   8  SoapBottle         -2.608         0.359          -3.549         0              0              0              18
   9  ScrubBrush         -0.136         -0.000         -0.105         0              0              0              Floor|-01.15|
  10  Cloth              -2.587         0.085          -0.678         0              90             0              26
  11  Plunger            -0.370         -0.000         -0.097         0              0              0              Floor|-01.15|
  12  Candle             -2.608         0.356          -2.714         0              0              0              18
  13  SprayBottle        -2.640         0.358          -2.296         0              0              0              18
  14  Bathtub            -2.104         0.524          -0.828         0              0              0
  15  Faucet             -0.040         1.017          -2.076         0              270            0
  16  Sink               -0.307         0.0            -2.076         0              270            0
  17  Mirror             -2.983         1.565          -2.900         0              0              0
  18  Shelf              -2.581         0.395          -2.923         0              0              0
  19  Shelf              -2.539         0.130          -2.923         0              0              0
  20  CounterTop         -2.704         1.029          -2.923         0              0              0
  21  TowelHolder        -1.338         1.179          0.0            0              180            0
  22  LightSwitch        -0.363         1.330          -3.999         0              0              0
  23  HandTowelHolder    0.0            1.582          -2.661         0              180            0
  24  HandTowelHolder    0.0            1.582          -1.549         0              180            0
  25  SinkBasin          -0.310         0.859          -2.076         0              0              0
  26  BathtubBasin       -2.586         0.071          -0.801         0              90             0
  27  ToiletPaperHanger  0.0            0.866          -0.968         0              270            0
  28  GarbageCan         -0.266         -0.034         -2.751         0              0              0
  29  Toilet             -0.411         -0.000         -0.547         0              0              0
  30  Drawer             -0.229         0.161          -3.398         0              270            0
  31  Drawer             -0.229         0.420          -3.398         0              270            0
  32  Drawer             -0.229         0.680          -3.398         0              270            0
  33  Drawer             -0.229         0.940          -3.398         0              270            0
  34  Dresser            -0.205         0.000          -3.398         0              270            0
  35  ShowerHead         -2.579         1.261          -0.064         0              270            0
  36  ShowerCurtain      -2.188         1.915          -1.560         0              0              0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: Turn to the right and walk to the trash can that is sitting on the floor to the right of the sink | STEP 2: Pick up the roll of toilet paper that is sitting in the trash can | STEP 3: Turn around and face the long white counter with the shelves underneath | STEP 4: Place the toilet paper on the top shelf underneath in front of the candle stick | STEP 5: Turn left and walk to the door, then turn left and walk to the tall stand with the drawers | STEP 6: Pick up the empty toilet paper roll that is sitting on top of the stand | STEP 7: Turn around and walk to the long counter with the shelves underneath | STEP 8: Place the empty toilet paper roll on the shelf to the left of the roll of toilet paper | END