Task: Place toilet paper 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              -1.5           0.900          3.5            0              270            0
   1  Candle             -3.828         0.550          1.109          0              90             0              32
   2  SprayBottle        -2.227         0.035          4.948          0              0              0              31
   3  Candle             -2.917         0.685          3.186          0              348.434        0              17
   4  SoapBottle         -1.279         0.044          5.006          0              0              0              26
   5  HandTowel          -2.093         1.442          5.107          0              0              0              33
   6  Towel              -0.181         1.419          2.425          0              270            0              30
   7  SoapBar            -2.905         0.676          2.906          0              348.434        0              17
   8  ToiletPaper        -0.188         1.036          3.374          0              0              0              36
   9  TissueBox          -1.051         0.964          4.866          0              0              0              22
  10  Cloth              -1.796         0.038          4.768          0              0              0              24
  11  ToiletPaper        -3.828         0.538          1.477          0              90             0              32
  12  SprayBottle        -1.929         0.964          4.809          0              0              0              22
  13  ScrubBrush         -0.231         -0.000         3.857          0              0              0              Floor|+00.00|
  14  Plunger            -0.212         -0.000         3.536          0              0              0              Floor|+00.00|
  15  BathtubBasin       -3.404         0.166          2.904          0              0              0
  16  Cabinet            -0.124         0.364          4.634          0              0              0
  17  Bathtub            -2.896         0.667          2.860          0              0              0
  18  Faucet             -3.475         0.711          3.811          0              0              0
  19  ShowerGlass        0.0            0.0            0.0            0              0              0
  20  ShowerDoor         -0.282         1.228          1.730          0              0              0
  21  Faucet             -1.524         1.047          5.096          0              180            0
  22  CounterTop         -1.023         0.954          4.884          0              0              0
  23  Mirror             -0.975         1.577          5.145          0              0              0
  24  Cabinet            -1.962         0.364          4.634          0              0              0
  25  Cabinet            -1.027         0.364          4.634          0              0              0
  26  Cabinet            -1.059         0.364          4.634          0              0              0
  27  Window             -1.993         1.888          0.144          0              0              0
  28  LightSwitch        -2.496         1.366          5.146          0              180            0
  29  TowelHolder        -1.720         1.213          1.740          0              0              0
  30  TowelHolder        -0.074         1.404          2.424          0              270            0
  31  GarbageCan         -2.346         0.002          4.878          0              180            0
  32  Shelf              -3.713         0.531          0.951          0              90             0
  33  HandTowelHolder    -2.094         1.544          5.145          0              90             0
  34  HandTowelHolder    -0.074         1.569          4.810          0              180            0
  35  ToiletPaperHanger  -0.074         1.126          3.686          0              270            0
  36  Toilet             -0.517         -0.000         3.220          0              0              0
  37  ShowerHead         -0.182         1.256          0.875          0              0              0
  38  SinkBasin          -0.569         0.986          4.886          0              180            0
  39  Sink               -0.579         0.926          4.874          0              180            0
  40  Sink               -1.524         0.926          4.874          0              180            0
  41  SinkBasin          -1.514         0.986          4.886          0              180            0
  42  Faucet             -0.583         1.047          5.096          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing the toilet | STEP 2: pick up the toilet paper from the toilet tank | STEP 3: turn to the left facing the toilet paper holder | STEP 4: put the toilet paper on the toilet paper holder | END