Task: Take the toilet paper tube off the floor, put it on top of the toilet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.5            0.900          -3.25          0              270            0
   1  Cloth              -1.974         0.042          -2.108         0              270            0              30
   2  Candle             0.179          0.952          -3.927         0              90             0              28
   3  SoapBar            -0.070         0.952          -3.874         0              90             0              28
   4  SoapBar            -1.974         0.044          -3.255         0              270            0              30
   5  SprayBottle        0.824          0.815          -1.773         0              90             0              34
   6  SoapBottle         0.054          0.955          -3.874         0              90             0              28
   7  ToiletPaper        0.405          0.729          -3.885         0              0              270            31
   8  SoapBottle         -1.656         0.821          -0.193         0              0              0              32
   9  Cloth              0.833          0.809          -1.546         0              0              0              34
  10  Candle             -1.454         0.817          -0.080         0              0              0              32
  11  HandTowel          -2.166         1.500          -0.037         0              0              0              25
  12  Towel              -1.525         1.685          -0.105         0              180            0              23
  13  SoapBar            -2.085         0.044          -2.682         0              270            0              30
  14  ToiletPaper        0.880          0.815          -1.874         0              90             0              34
  15  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  16  SprayBottle        -1.353         0.815          -0.221         0              0              0              32
  17  TissueBox          0.839          0.818          -0.623         0              90             0              33
  18  ToiletPaper        0.754          0.815          -0.926         0              90             0              33
  19  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  20  Sink               -2.171         0.294          -0.660         0              90             0
  21  Bathtub            -2.122         -0.088         -3.116         0              0              0
  22  Mirror             -2.503         1.423          -0.703         0              0              0
  23  TowelHolder        -1.524         1.671          0.001          0              180            0
  24  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  25  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  26  LightSwitch        0.321          1.327          0.000          0              180            0
  27  Window             -0.540         1.625          -3.996         90             0              0
  28  Toilet             0.004          -0.000         -3.436         0              0              0
  29  SinkBasin          -2.176         0.824          -0.659         0              0              0
  30  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  31  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  32  SideTable          -1.526         0.001          -0.172         0              0              0
  33  SideTable          0.780          0.001          -0.667         0              90             0
  34  SideTable          0.793          0.001          -1.817         0              90             0
  35  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  36  Faucet             -2.431         0.982          -0.660         0              90             0
  37  Faucet             -1.909         0.666          -3.855         0              180            0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn to the left, pick up the toilet paper tube | STEP 2: Turn around, walk to the bath tub | STEP 3: Turn around, face the toilet | STEP 4: Put the toilet paper tube on top of the toilet | END