Task: Pick up toilet paper, 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              -1.5           0.900          2.75           0              270            0
   1  Cloth              -0.246         0.512          1.923          0              0              0              26
   2  SoapBar            -0.097         0.812          2.190          0              0              0              25
   3  SoapBar            -0.204         0.828          1.772          0              0              0              46
   4  Candle             -0.215         0.952          3.783          0              0              0              40
   5  Candle             -0.470         0.206          2.901          0              0              0              24
   6  SprayBottle        -0.188         0.954          3.846          0              0              0              40
   7  SprayBottle        -0.161         0.813          1.288          0              0              0              25
   8  DishSponge         -0.246         0.513          1.574          0              0              0              31
   9  ToiletPaper        -0.417         0.809          1.373          0              0              0              25
  10  HandTowel          -0.036         1.658          3.443          0              90             0              39
  11  SoapBar            -0.353         0.812          3.230          0              0              0              25
  12  ToiletPaper        -2.121         0.053          3.843          0              90             0              38
  13  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  14  Candle             -0.134         0.953          3.471          0              0              0              40
  15  SoapBottle         -0.134         0.954          3.721          0              0              0              40
  16  ToiletPaper        -0.482         0.809          2.243          0              0              0              25
  17  SprayBottle        -0.417         0.813          2.403          0              0              0              25
  18  Towel              -1.106         1.151          1.289          0              0              0              37
  19  Cloth              -0.246         0.205          2.551          0              0              0              32
  20  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  21  DishSponge         -0.414         0.206          1.867          0              0              0              28
  22  Sink               -0.299         0.807          2.754          0              270            0
  23  Drawer             -0.319         0.615          3.012          0              0              0
  24  Drawer             -0.319         0.316          3.012          0              0              0
  25  CounterTop         -0.349         0.004          1.453          0              0              0
  26  Drawer             -0.319         0.615          1.978          0              0              0
  27  Drawer             -0.319         0.316          1.978          0              0              0
  28  Drawer             -0.319         0.316          1.463          0              0              0
  29  Drawer             -0.319         0.615          2.495          0              0              0
  30  ShowerDoor         -1.514         0.910          1.167          0              0              0
  31  Drawer             -0.319         0.615          1.463          0              0              0
  32  Drawer             -0.319         0.316          2.495          0              0              0
  33  Faucet             -0.076         0.805          2.757          0              0              0
  34  Mirror             -0.228         0.465          1.453          0              0              0
  35  ShowerGlass        -0.766         0.541          0.485          0              0              0
  36  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  37  TowelHolder        -1.105         1.136          1.183          0              0              0
  38  GarbageCan         -2.041         -0.000         3.724          0              45             0
  39  HandTowelHolder    0.001          1.759          3.443          0              180            0
  40  Toilet             -0.600         -0.000         3.671          0              270            0
  41  LightSwitch        -2.312         1.386          3.296          0              90             0
  42  Faucet             -0.076         0.805          1.733          0              0              0
  43  SinkBasin          -0.304         0.819          2.753          0              0              0
  44  Sink               -0.298         0.807          1.725          0              270            0
  45  ShowerHead         -0.083         1.248          0.522          0              0              0
  46  SinkBasin          -0.304         0.819          1.723          0              0              0
  47  NorthWall
  48  SouthWall
  49  SouthWall

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