Task: Take an empty roll of toilet paper and place it 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              -1.25          0.900          3.25           0              90             0
   1  DishSponge         -0.414         0.512          2.384          0              0              0              18
   2  HandTowel          -0.036         1.658          3.443          0              90             0              31
   3  SoapBar            -0.236         0.828          2.802          0              0              0              35
   4  ToiletPaper        -0.289         0.809          3.201          0              0              0              17
   5  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
   6  Candle             -0.215         0.953          3.783          0              0              0              32
   7  SoapBottle         -0.417         0.813          2.350          0              0              0              17
   8  ToiletPaper        -2.146         0.053          3.843          0              90             0              30
   9  SprayBottle        -0.417         0.813          2.137          0              0              0              17
  10  Towel              -1.106         1.151          1.289          0              0              0              29
  11  Cloth              -0.161         0.812          3.201          0              0              0              17
  12  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  13  DishSponge         -0.225         0.813          1.316          0              0              0              17
  14  Sink               -0.299         0.807          2.754          0              270            0
  15  Drawer             -0.319         0.615          3.012          0              0              0
  16  Drawer             -0.319         0.316          3.012          0              0              0
  17  CounterTop         -0.349         0.004          1.453          0              0              0
  18  Drawer             -0.319         0.615          1.978          0              0              0
  19  Drawer             -0.319         0.316          1.978          0              0              0
  20  Drawer             -0.319         0.316          1.463          0              0              0
  21  Drawer             -0.319         0.615          2.495          0              0              0
  22  ShowerDoor         -1.514         0.910          1.167          0              0              0
  23  Drawer             -0.319         0.615          1.463          0              0              0
  24  Drawer             -0.319         0.316          2.495          0              0              0
  25  Faucet             -0.076         0.805          2.757          0              0              0
  26  Mirror             -0.228         0.465          1.453          0              0              0
  27  ShowerGlass        -0.766         0.541          0.485          0              0              0
  28  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  29  TowelHolder        -1.105         1.136          1.183          0              0              0
  30  GarbageCan         -2.041         -0.000         3.724          0              45             0
  31  HandTowelHolder    0.001          1.759          3.443          0              180            0
  32  Toilet             -0.600         -0.000         3.671          0              270            0
  33  LightSwitch        -2.312         1.386          3.296          0              90             0
  34  Faucet             -0.076         0.805          1.733          0              0              0
  35  SinkBasin          -0.304         0.819          2.753          0              0              0
  36  Sink               -0.298         0.807          1.725          0              270            0
  37  ShowerHead         -0.083         1.248          0.522          0              0              0
  38  SinkBasin          -0.304         0.819          1.723          0              0              0
  39  NorthWall
  40  SouthWall
  41  SouthWall

Plan:
STEP 1: Turn around towards the door and turn right towards the waste basket | STEP 2: Pick up the empty roll of toilet paper | STEP 3: Turn right towards the toilet and then left towards the empty toilet paper roll holder | STEP 4: Place the empty roll on the toilet paper holder | END