Task: Pick up the empty paper roll, throw it in the trash bin

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          3.25           0              0              0
   1  Cloth              -1.488         0.244          2.533          0              0              0              23
   2  SoapBar            -1.674         0.641          3.402          0              270            0              37
   3  SoapBar            -1.458         0.731          2.676          0              0              0              21
   4  Candle             -1.715         0.772          2.977          0              0              0              21
   5  Candle             -1.887         0.772          2.776          0              0              0              21
   6  SprayBottle        -1.670         0.046          1.298          0              180            0              32
   7  SoapBottle         -1.873         1.046          0.748          0              90             0              35
   8  ToiletPaper        -1.848         1.042          0.616          0              90             0              35
   9  Candle             -1.801         0.772          2.977          0              0              0              21
  10  HandTowel          -1.961         1.588          1.323          0              270            0              28
  11  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  12  Towel              0.871          1.172          2.356          0              0              0              26
  13  SoapBottle         -1.823         1.046          0.879          0              90             0              35
  14  SoapBar            -1.823         1.045          0.485          0              90             0              35
  15  ToiletPaper        -1.529         0.235          3.463          0              0              0              20
  16  Cloth              -1.715         0.736          2.776          0              0              0              21
  17  ToiletPaper        -1.553         0.624          0.053          0              0              270            31
  18  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  19  SprayBottle        -1.458         0.732          2.977          0              0              0              21
  20  Drawer             -1.335         0.301          3.329          0              0              0
  21  CounterTop         -1.608         0.701          2.831          0              0              0
  22  ShowerDoor         0.564          1.018          1.115          0              0              0
  23  Drawer             -1.335         0.301          2.132          0              0              0
  24  Mirror             -1.924         1.414          2.759          0              0              0
  25  Sink               -1.695         0.616          2.283          0              90             0
  26  TowelHolder        0.870          1.157          2.25           0              0              0
  27  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  28  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  29  Window             -1.037         1.399          0.019          90             0              0
  30  Window             -1.986         1.396          0.707          90             90             0
  31  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  32  GarbageCan         -1.739         -0.031         1.268          0              90             0
  33  LightSwitch        1.25           1.273          3.634          0              270            0
  34  SinkBasin          -1.674         0.633          2.274          0              270            0
  35  Toilet             -1.547         0.000          0.685          0              180            0
  36  Sink               -1.695         0.616          3.365          0              90             0
  37  SinkBasin          -1.674         0.633          3.355          0              270            0
  38  ShowerHead         0.853          1.797          1.108          0              180            0
  39  Faucet             -1.926         0.721          2.285          0              90             0
  40  Faucet             -1.926         0.721          3.368          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and walk to the window | STEP 2: Pick up the paper roll on the ground | STEP 3: Turn around and around | STEP 4: Put the roll in the trash bin by the toilet | END