Task: Remove empty toilet paper holder, put 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              -2.0           0.904          0.0            0              270            0
   1  Cloth              -0.619         0.033          0.581          0              0              0              28
   2  Cloth              -0.547         0.033          1.040          0              0              0              28
   3  SprayBottle        -2.886         1.003          0.618          0              0              0              30
   4  SprayBottle        -3.163         1.049          1.460          0              90             0              37
   5  Candle             -3.163         1.050          1.066          0              90             0              37
   6  HandTowel          -2.96          1.593          -0.728         0              180            0              33
   7  Towel              -1.615         1.398          1.800          0              180            0              32
   8  HandTowel          -3.321         1.464          0.763          0              270            0              34
   9  SoapBar            -2.838         0.109          0.538          0              0              0              19
  10  ToiletPaper        -2.904         0.105          -0.494         0              0              0              20
  11  ToiletPaper        -3.061         0.668          0.690          347.055        0              90             36
  12  Candle             -3.163         1.050          1.132          0              90             0              37
  13  ScrubBrush         -3.236         0.003          1.79           0              0              0              Floor|-01.69|
  14  Plunger            -3.043         0.003          1.683          0              0              0              Floor|-01.69|
  15  SoapBottle         -3.165         0.111          0.286          0              0              0              19
  16  Cloth              -0.690         0.033          0.811          0              0              0              28
  17  SprayBottle        -3.165         0.109          -0.600         0              0              0              20
  18  Faucet             -0.618         0.667          1.805          0              0              0
  19  Cabinet            -2.761         0.446          0.599          0              0              0
  20  Cabinet            -2.756         0.421          -0.759         0              0              0
  21  Cabinet            -2.905         2.098          1.878          0              0              0
  22  Sink               -3.016         0.865          0.207          0              90             0
  23  Bathtub            -0.603         0.286          0.832          0              0              0
  24  SinkBasin          -3.016         0.874          0.217          0              90             0
  25  Cabinet            -2.756         0.421          -0.272         0              0              0
  26  Faucet             -3.313         0.989          0.207          0              90             0
  27  Cabinet            -2.900         2.053          1.005          0              0              0
  28  BathtubBasin       -0.558         0.023          0.811          0              0              0
  29  Mirror             -3.348         1.476          0.020          0              0              0
  30  CounterTop         -3.049         1.039          -0.442         0              0              0
  31  GarbageCan         -3.080         -0.007         0.899          0              0              0
  32  TowelHolder        -1.615         1.383          1.907          0              180            0
  33  HandTowelHolder    -2.960         1.695          -0.766         0              270            0
  34  HandTowelHolder    -3.359         1.565          0.763          0              0              0
  35  LightSwitch        -2.313         1.426          -0.766         0              0              0
  36  ToiletPaperHanger  -3.105         0.828          0.625          347.055        0              0
  37  Toilet             -2.931         0.003          1.364          0              180            0
  38  ShowerCurtain      -1.171         1.866          -0.108         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move to the right of the vanity | STEP 2: Take the toilet paper roll from the holder | STEP 3: Turn around a full 360 degrees | STEP 4: Put the toilet paper roll on the toilet tank | STEP 5: Turn left to move to the left side of the vanity | STEP 6: Get toilet paper from the left cupboard | STEP 7: Move back to the toilet | STEP 8: Put toilet paper on toilet tank | END