Task: Put the empty toilet paper tube from the counter onto the holder

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          3.5            0              90             0
   1  Cloth              0.558          0.216          3.312          0              0              0              33
   2  SoapBar            0.390          0.211          2.115          0              0              0              23
   3  SoapBar            0.389          0.819          3.294          0              0              0              30
   4  Candle             0.390          0.213          3.392          0              0              0              33
   5  SprayBottle        0.624          1.046          1.533          0              270            0              42
   6  SprayBottle        0.536          0.208          3.844          0              0              0              38
   7  SoapBottle         0.389          0.827          3.184          0              0              0              30
   8  HandTowel          0.634          1.512          1.892          0              90             0              40
   9  ToiletPaper        0.588          0.816          3.239          0              0              0              30
  10  ToiletPaper        0.532          1.041          1.401          0              270            0              42
  11  SoapBottle         0.596          0.809          3.415          0              225            0              30
  12  HandTowel          0.634          1.512          3.564          0              90             0              41
  13  Towel              0.609          1.376          0.583          0              270            0              34
  14  SoapBar            0.398          0.676          2.753          0              270            0              39
  15  ToiletPaper        0.655          1.041          1.336          0              270            0              42
  16  ToiletPaper        0.624          1.041          1.467          0              270            0              42
  17  Candle             0.521          0.821          3.349          0              0              0              30
  18  ScrubBrush         0.553          0.000          1.725          0              0              0
  19  Cloth              0.390          0.517          2.155          0              0              0              26
  20  Plunger            0.594          -0.000         1.898          0              0              0
  21  SprayBottle        0.521          0.820          2.161          0              0              0              30
  22  Drawer             0.443          0.624          3.310          0              0              0
  23  Drawer             0.443          0.323          2.194          0              0              0
  24  ShowerDoor         -0.923         1.032          1.155          0              0              0
  25  Sink               0.495          0.661          2.756          0              270            0
  26  Drawer             0.443          0.624          2.193          0              0              0
  27  Faucet             0.717          0.982          2.756          0              0              0
  28  Mirror             0.629          1.532          2.697          0              0              0
  29  ShowerGlass        -0.152         1.266          1.156          0              0              0
  30  CounterTop         0.458          0.789          2.759          0              0              0
  31  Drawer             0.443          0.323          2.566          0              0              0
  32  Drawer             0.443          0.323          2.937          0              0              0
  33  Drawer             0.443          0.323          3.310          0              0              0
  34  TowelHolder        0.716          1.361          0.583          0              270            0
  35  TowelHolder        -0.442         1.361          1.175          0              0              0
  36  LightSwitch        -1.749         1.429          3.325          0              90             0
  37  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  38  GarbageCan         0.412          -0.029         3.728          0              0              0
  39  SinkBasin          0.440          0.667          2.746          0              270            0
  40  HandTowelHolder    0.673          1.613          1.891          0              180            0
  41  HandTowelHolder    0.673          1.613          3.563          0              180            0
  42  Toilet             0.270          0.000          1.463          0              0              0
  43  ShowerHead         -1.705         1.894          0.587          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Head straight to the sink | STEP 2: Take the empty toilet paper tube from the counter | STEP 3: Turn to the right, head to the toilet | STEP 4: Face the toilet, put the toilet paper tube on the black holder | END