Task: Put a tube on the toilet paper holder.

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          -0.5           0              270            0
   1  Cloth              -0.379         0.926          -1.534         347.851        0              0              37
   2  Cloth              -0.861         0.017          -1.537         0              0              0              21
   3  SoapBar            -1.963         1.044          0.140          0              90             0              42
   4  Candle             -1.411         0.015          -1.385         0              0              0              30
   5  Candle             -1.841         1.042          0.272          0              90             0              42
   6  SprayBottle        -1.725         0.017          -1.588         0              0              0              30
   7  SprayBottle        -1.843         0.017          -1.537         0              0              0              30
   8  SoapBottle         -0.313         0.019          -1.435         0              0              0              27
   9  Towel              0.89           1.368          -1.755         0              0              0              34
  10  HandTowel          -2.028         1.492          -1.482         0              270            0              40
  11  SoapBar            -1.994         1.044          0.337          0              90             0              42
  12  ToiletPaper        0.078          0.148          -1.537         0              90             0              41
  13  ToiletPaper        -1.894         1.037          0.023          1.050          0              358.837        42
  14  Cloth              1.000          0.171          -1.105         0              270            0              38
  15  SprayBottle        -1.725         0.017          -1.486         0              0              0              30
  16  ScrubBrush         -1.648         -0.000         0.649          0              0              0              Floor|-00.27|
  17  Plunger            -1.885         -0.001         0.609          0              0              0              Floor|-00.27|
  18  Candle             -1.871         1.042          0.337          0              90             0              42
  19  SoapBottle         -1.902         1.046          0.206          0              90             0              42
  20  Cabinet            -1.052         0.340          -1.327         0              0              0
  21  Cabinet            -1.039         0.340          -1.327         0              0              0
  22  ShowerGlass        0.919          1.417          -0.206         0              0              0
  23  Sink               -1.560         0.811          -1.598         0              0              0
  24  CounterTop         -1.041         0.884          -1.531         0              0              0
  25  ShowerDoor         0.451          0.926          0.696          0              0              0
  26  Faucet             -0.505         0.898          -1.779         0              0              0
  27  Cabinet            -0.071         0.340          -1.327         0              0              0
  28  Mirror             -1.014         1.501          -1.840         0              0              0
  29  Bathtub            0.883          0.392          -1.154         0              0              0
  30  Cabinet            -2.020         0.340          -1.327         0              0              0
  31  Sink               -0.526         0.811          -1.598         0              0              0
  32  Window             1.532          1.672          -1.037         0              0              0
  33  ShowerCurtain      0.460          1.777          -1.522         0              0              0
  34  TowelHolder        0.889          1.353          -1.861         0              0              0
  35  ToiletPaperHanger  -1.182         0.919          0.768          0              180            0
  36  LightSwitch        0.224          1.333          0.762          0              180            0
  37  SinkBasin          -0.536         0.917          -1.532         347.851        0              0
  38  BathtubBasin       0.938          0.160          -1.126         0              270            0
  39  SinkBasin          -1.571         0.917          -1.532         347.851        0              0
  40  HandTowelHolder    -2.066         1.594          -1.482         0              0              0
  41  GarbageCan         0.122          -0.002         -1.558         0              270            0
  42  Toilet             -1.610         -0.000         0.209          0              180            0
  43  Faucet             -1.537         0.898          -1.779         0              0              0
  44  Faucet             0.929          0.509          -1.978         0              0              0
  45  Faucet             0.890          1.689          0.724          0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn right and take a step to the toilet. | STEP 2: Pick up the tube that's in front of you. | STEP 3: Turn right and walk past the toilet then turn left and walk to the wall then turn left. | STEP 4: Put the tube on the toilet paper holder. | END