Task: put an empty roll and a full roll of toilet paper on the toilet tank

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.901          -2.0           0              270            0
   1  SoapBar            -2.620         0.806          -3.474         0              0              0              22
   2  Candle             -0.221         1.054          -3.180         0              270            0              31
   3  HandTowel          -2.962         1.584          -2.569         0              270            0              26
   4  Candle             -0.099         1.054          -3.245         0              270            0              31
   5  Cloth              -2.708         0.806          -3.707         0              0              0              22
   6  HandTowel          -2.962         1.584          -3.550         0              270            0              25
   7  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
   8  SoapBar            -2.884         0.806          -3.649         0              0              0              22
   9  ToiletPaper        -2.355         0.803          -2.394         0              0              0              22
  10  ToiletPaper        -2.532         0.803          -2.590         0              0              0              22
  11  Towel              -1.291         1.386          -0.63          0              270            0              23
  12  SoapBottle         -2.532         0.808          -3.649         0              0              0              22
  13  SprayBottle        -2.613         0.067          -3.755         0              270            0              20
  14  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  15  Cabinet            -2.293         0.324          -3.254         0              0              0
  16  Mirror             -3.0           1.659          -3.069         0              0              0
  17  Sink               -2.661         0.785          -3.069         0              90             0
  18  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  19  Cabinet            -2.299         0.345          -2.250         0              0              0
  20  Cabinet            -2.293         0.324          -3.814         0              0              0
  21  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  22  CounterTop         -2.632         0.843          -3.040         0              0              0
  23  TowelHolder        -1.184         1.371          -0.629         0              270            0
  24  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  25  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  26  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  27  Window             -0.567         1.706          -4.002         90             0              0
  28  SinkBasin          -2.669         0.863          -3.063         0              90             0
  29  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  30  LightSwitch        -1.945         1.503          0.000          0              180            0
  31  Toilet             -0.452         0.000          -3.052         0              0              0
  32  Faucet             -3.0           1.167          -3.073         0              180            0
  33  ShowerHead         -0.614         1.934          -0.013         0              0              0
  34  EastWall
  35  EastWall
  36  SouthWall

Plan:
STEP 1: go to the sink in front of you | STEP 2: pick up the brown paper roll | STEP 3: take the roll to the toilet | STEP 4: put the roll on top of the toilet tank | STEP 5: go back to the sink | STEP 6: pick up the roll of toilet paper | STEP 7: take the roll to the toilet | STEP 8: place the roll next to the empty roll on the tank | END