Task: Pick up toilet paper roll, place on 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              -2.0           0.900          1.75           0              270            0
   1  Cloth              -0.353         0.812          3.172          0              0              0              28
   2  Cloth              -0.358         0.205          2.957          0              0              0              27
   3  SoapBar            -0.161         0.952          3.596          0              0              0              43
   4  SoapBar            -0.246         0.512          3.012          0              0              0              26
   5  Candle             -0.134         0.205          1.574          0              0              0              31
   6  Candle             -0.246         0.205          2.551          0              0              0              27
   7  SprayBottle        -0.225         0.813          1.316          0              0              0              28
   8  SprayBottle        -0.353         0.813          2.297          0              0              0              28
   9  DishSponge         -0.097         0.813          2.243          0              0              0              28
  10  DishSponge         -0.358         0.513          2.090          0              0              0              29
  11  SoapBottle         -0.188         0.954          3.721          0              0              0              43
  12  ToiletPaper        -2.146         0.053          3.843          0              90             0              41
  13  HandTowel          -0.036         1.658          3.443          0              90             0              42
  14  SoapBar            -0.331         0.828          1.627          0              0              0              49
  15  ToiletPaper        -0.097         0.809          3.114          0              0              0              28
  16  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  17  Candle             -0.161         0.812          3.230          0              0              0              28
  18  SoapBottle         -0.417         0.813          2.190          0              0              0              28
  19  ToiletPaper        -0.134         0.949          3.846          0              0              0              43
  20  SprayBottle        -0.134         0.954          3.471          0              0              0              43
  21  Towel              -1.106         1.151          1.289          0              0              0              40
  22  Cloth              -0.302         0.512          1.519          0              0              0              34
  23  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  24  DishSponge         -0.414         0.206          1.978          0              0              0              29
  25  Sink               -0.299         0.807          2.754          0              270            0
  26  Drawer             -0.319         0.615          3.012          0              0              0
  27  Drawer             -0.319         0.316          3.012          0              0              0
  28  CounterTop         -0.349         0.004          1.453          0              0              0
  29  Drawer             -0.319         0.615          1.978          0              0              0
  30  Drawer             -0.319         0.316          1.978          0              0              0
  31  Drawer             -0.319         0.316          1.463          0              0              0
  32  Drawer             -0.319         0.615          2.495          0              0              0
  33  ShowerDoor         -1.514         0.910          1.167          0              0              0
  34  Drawer             -0.319         0.615          1.463          0              0              0
  35  Drawer             -0.319         0.316          2.495          0              0              0
  36  Faucet             -0.076         0.805          2.757          0              0              0
  37  Mirror             -0.228         0.465          1.453          0              0              0
  38  ShowerGlass        -0.766         0.541          0.485          0              0              0
  39  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  40  TowelHolder        -1.105         1.136          1.183          0              0              0
  41  GarbageCan         -2.041         -0.000         3.724          0              45             0
  42  HandTowelHolder    0.001          1.759          3.443          0              180            0
  43  Toilet             -0.600         -0.000         3.671          0              270            0
  44  LightSwitch        -2.312         1.386          3.296          0              90             0
  45  Faucet             -0.076         0.805          1.733          0              0              0
  46  SinkBasin          -0.304         0.819          2.753          0              0              0
  47  Sink               -0.298         0.807          1.725          0              270            0
  48  ShowerHead         -0.083         1.248          0.522          0              0              0
  49  SinkBasin          -0.304         0.819          1.723          0              0              0
  50  NorthWall
  51  SouthWall
  52  SouthWall

Plan:
STEP 1: turn right, pick up toilet paper roll from bin, turn right, turn left, place toilet paper roll on holder | STEP 2: pick up toilet paper roll from bin,turn right,turn left, place toilet paper roll on holder | STEP 3: turn right, turn left, place toilet paper roll on holder | STEP 4: place toilet paper roll on holder | END