Task: Putting a cardboard tube and a toilet paper roll on an end table

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          -1.25          0              180            0
   1  Cloth              -1.780         0.291          -2.402         0              0              0              32
   2  Cloth              -1.524         0.291          -2.517         0              0              0              32
   3  SprayBottle        -2.337         1.046          -0.295         0              90             0              34
   4  Candle             -0.241         0.917          -1.461         0              0              0              21
   5  Candle             -0.125         0.917          -1.461         0              0              0              21
   6  SoapBar            -0.757         0.290          -2.574         0              0              0              32
   7  SoapBar            -2.275         0.052          -1.036         0              90             0              24
   8  Towel              -2.424         1.541          -2.487         0              90             0              25
   9  Candle             -0.300         0.764          -2.042         0              0              0              19
  10  HandTowel          -2.496         1.836          -0.907         0              270            0              29
  11  Plunger            -2.366         0.000          -0.653         0              0              0              Floor|-00.95|
  12  SoapBottle         -0.128         0.723          -2.123         0              0              0              19
  13  SoapBar            -2.036         0.290          -2.344         0              0              0              32
  14  ToiletPaper        -1.490         1.049          -0.110         0              180            90             28
  15  Cloth              -1.013         0.291          -2.574         0              0              0              32
  16  ToiletPaper        -2.343         0.045          -1.065         0              0              0              24
  17  SprayBottle        -2.306         1.046          -0.492         0              90             0              34
  18  ScrubBrush         -2.114         0.000          -0.695         0              0              0              Floor|-00.95|
  19  Bathtub            -1.281         0.277          -2.529         0              0              0
  20  Mirror             -2.512         1.764          -1.518         0              0              0
  21  SideTable          -0.153         0.000          -1.465         0              270            0
  22  Sink               -2.273         0.0            -1.519         0              90             0
  23  Drawer             -0.218         0.775          -1.466         0              270            0
  24  GarbageCan         -2.197         -0.034         -1.009         0              90             0
  25  TowelHolder        -2.530         1.526          -2.486         0              90             0
  26  TowelHolder        0.0            1.526          -2.486         0              270            0
  27  LightSwitch        0.0            1.324          -1.146         0              270            0
  28  ToiletPaperHanger  -1.427         1.049          0.0            0              180            0
  29  HandTowelHolder    -2.534         1.937          -0.907         0              0              0
  30  Window             -1.291         1.815          -3.121         90             0              0
  31  SinkBasin          -2.216         0.905          -1.503         0              90             0
  32  SinkBasin          -1.305         0.280          -2.516         0              0              0
  33  HousePlant         -0.108         0.870          -1.649         0              0              0
  34  Toilet             -2.045         0.000          -0.358         0              180            0
  35  Faucet             -2.446         0.940          -1.516         0              90             0
  36  Faucet             -0.132         0.706          -2.877         0              29.999         0
  37  ShowerCurtain      -2.438         1.945          -1.917         0              90             0
  38  EastWall
  39  EastWall
  40  SouthWall

Plan:
STEP 1: Turn right and go to the trash can | STEP 2: Grab the cardboard tube out of the trash can | STEP 3: Turn around and go to the end table | STEP 4: Put the cardboard on the table | STEP 5: Turn around and go to the toilet paper on the wall | STEP 6: Grab the toilet paper roll off of the wall | STEP 7: Turn around and go to the end table | STEP 8: Put the toilet paper on the table | END