Task: Put a full toilet paper roll and an empty paper roll on the counter between the two sinks.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.0           0.900          4.75           0              90             0
   1  TissueBox          -3.597         0.541          0.373          0              90             0              35
   2  TissueBox          -3.828         0.541          1.477          0              90             0              20
   3  Cloth              -3.828         0.541          1.109          0              90             0              35
   4  Cloth              -3.713         0.541          0.925          0              90             0              35
   5  SoapBottle         -1.846         0.042          5.006          0              0              0              27
   6  Candle             -0.921         0.972          4.999          0              0              0              25
   7  SoapBottle         -0.444         0.044          5.006          0              0              0              19
   8  HandTowel          -2.093         1.442          5.107          0              0              0              36
   9  Towel              -1.719         1.228          1.846          0              0              0              32
  10  SoapBar            -3.884         0.676          3.986          0              270            0              20
  11  ToiletPaper        -0.153         1.126          3.705          0              270            270            38
  12  TissueBox          -3.597         0.541          1.109          0              90             0              35
  13  Cloth              -3.393         0.185          2.429          0              347.395        0              18
  14  ToiletPaper        -0.163         1.041          3.092          0              270            0              39
  15  SprayBottle        -0.163         1.045          3.223          0              270            0              39
  16  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  17  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  18  BathtubBasin       -3.404         0.166          2.904          0              0              0
  19  Cabinet            -0.124         0.364          4.634          0              0              0
  20  Bathtub            -2.896         0.667          2.860          0              0              0
  21  Faucet             -3.475         0.711          3.811          0              0              0
  22  ShowerGlass        0.0            0.0            0.0            0              0              0
  23  ShowerDoor         -0.282         1.228          1.730          0              0              0
  24  Faucet             -1.524         1.047          5.096          0              180            0
  25  CounterTop         -1.023         0.954          4.884          0              0              0
  26  Mirror             -0.975         1.577          5.145          0              0              0
  27  Cabinet            -1.962         0.364          4.634          0              0              0
  28  Cabinet            -1.027         0.364          4.634          0              0              0
  29  Cabinet            -1.059         0.364          4.634          0              0              0
  30  Window             -1.993         1.888          0.144          0              0              0
  31  LightSwitch        -2.496         1.366          5.146          0              180            0
  32  TowelHolder        -1.720         1.213          1.740          0              0              0
  33  TowelHolder        -0.074         1.404          2.424          0              270            0
  34  GarbageCan         -2.346         0.002          4.878          0              180            0
  35  Shelf              -3.713         0.531          0.951          0              90             0
  36  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  37  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  38  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  39  Toilet             -0.517         -0.000         3.220          0              0              0
  40  ShowerHead         -0.182         1.256          0.875          0              0              0
  41  SinkBasin          -0.569         0.986          4.886          0              180            0
  42  Sink               -0.579         0.926          4.874          0              180            0
  43  Sink               -1.524         0.926          4.874          0              180            0
  44  SinkBasin          -1.514         0.986          4.886          0              180            0
  45  Faucet             -0.583         1.047          5.096          0              180            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Take one step forward, turn right for four steps, then left and walk to the toilet paper roll and stop. | STEP 2: Take the roll of toilet paper off the roller. | STEP 3: Turn around and walk to steps, turn right and walk over to the counter between the sinks. | STEP 4: Place the toilet paper on the counter between the two sinks but slightly closer to the right sink, towards the front. | STEP 5: Turn left and take one step, turn left and walk past the toilet, turn left and walk close to the wall then turn and face the toilet. | STEP 6: Pick up the empty toilet paper roll from the top of the toilet tank. | STEP 7: Turn left for three steps, turn right and past the toilet, turn right for one step, then turn left and to the counter. | STEP 8: Put the empty roll to the left of the full paper roll on the counter. | END