Task: Move an empty toilet paper roll to the toilet paper roll holder

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.899          0.25           0              180            0
   1  SoapBar            -3.607         0.083          -1.278         0              0              0              16
   2  Towel              0.136          1.121          -2.080         0              0              0              24
   3  Candle             -1.958         1.085          -1.999         0              0              0              30
   4  Cloth              -1.761         1.043          -2.030         0              0              0              30
   5  HandTowel          -3.332         1.519          -2.160         0              180            0              28
   6  Plunger            -2.207         -0.001         -2.076         0              0              0              Floor|+00.00|
   7  SoapBottle         -3.350         0.911          -1.380         0              0              0              23
   8  SoapBar            -3.307         0.925          -0.932         0              90             0              35
   9  ToiletPaper        -3.493         0.075          -1.635         0              0              0              18
  10  ToiletPaper        -2.089         1.040          -1.999         0              0              0              30
  11  SprayBottle        -3.594         0.122          -0.436         0              0              0              25
  12  ScrubBrush         -2.407         -0.001         -2.092         0              0              0              Floor|+00.00|
  13  Cabinet            -3.169         0.370          -2.188         0              0              0
  14  Window             -1.737         1.292          -2.286         0              0              0
  15  ShowerDoor         -0.447         0.909          -2.191         0              0              0
  16  Cabinet            -3.169         0.370          -1.379         0              0              0
  17  Mirror             -3.730         1.481          -1.427         0              0              0
  18  Cabinet            -3.169         0.370          -1.398         0              0              0
  19  ShowerGlass        -0.964         0.907          -0.120         0              0              0
  20  Sink               -3.391         0.841          -1.828         0              90             0
  21  FloorLamp          -3.539         1.020          -0.932         0              90             0
  22  Cabinet            -3.169         0.370          -0.592         0              0              0
  23  CounterTop         -3.426         0.883          -1.384         0              0              0
  24  TowelHolder        0.136          1.106          -2.187         0              0              0
  25  GarbageCan         -3.520         -0.030         -0.349         0              0              0
  26  SinkBasin          -3.392         0.916          -1.820         0              90             0
  27  HandTowelHolder    -3.750         1.575          -0.410         0              0              0
  28  HandTowelHolder    -3.332         1.621          -2.198         0              270            0
  29  ToiletPaperHanger  -2.375         0.886          -2.199         0              0              0
  30  Toilet             -1.896         -0.001         -1.738         0              90             0
  31  LightSwitch        -2.052         1.292          1.000          0              180            0
  32  FloorLamp          -3.539         1.020          -1.830         0              90             0
  33  ShowerHead         0.232          1.026          0.375          0              315            0
  34  Sink               -3.391         0.841          -0.931         0              90             0
  35  SinkBasin          -3.392         0.916          -0.923         0              90             0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Move to the right side of the toilet | STEP 2: Pick up the empty brown tube on the back of the toilet | STEP 3: Carry the brown tube to the right where the roll holder is on the wall | STEP 4: Place the empty roll on the toilet paper holder | END