Task: put a box of tissues on the back 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           0.901          1.5            0              180            0
   1  TissueBox          -1.784         0.201          0.182          0              90             0              29
   2  TissueBox          -1.329         0.808          0.155          0              90             0              27
   3  Candle             -2.327         0.953          2.327          0              180            0              41
   4  Candle             -2.193         0.953          2.452          0              180            0              41
   5  SoapBottle         -0.805         0.809          0.417          0              90             0              27
   6  SoapBottle         -2.274         0.955          2.702          0              180            0              41
   7  Towel              -2.554         0.873          0.106          0              0              0              35
   8  ToiletPaper        -1.067         0.805          0.352          0              90             0              27
   9  Towel              -2.554         1.597          0.106          0              0              0              34
  10  Cloth              -3.383         0.219          0.568          0              0              0              43
  11  Candle             -2.274         0.953          2.452          0              180            0              41
  12  HandTowel          -0.038         1.68           2.956          0              90             0              38
  13  SoapBar            -0.308         0.897          3.041          0              180            0              42
  14  ToiletPaper        -0.867         0.033          3.158          0              204.683        0              37
  15  Plunger            -2.307         0.000          3.231          0              0              0              Floor|-00.08|
  16  SprayBottle        -2.247         0.951          2.327          0              180            0              41
  17  TissueBox          -1.853         0.808          0.352          0              90             0              27
  18  ToiletPaper        -1.853         0.805          0.482          0              90             0              27
  19  ScrubBrush         -2.189         0.000          3.025          0              0              0              Floor|-00.08|
  20  SoapBottle         -1.067         0.809          0.221          0              90             0              27
  21  Drawer             -1.324         0.312          0.311          0              90             0
  22  Drawer             -0.290         0.312          0.311          0              90             0
  23  Sink               -0.463         -0.013         3.046          0              180            0
  24  Mirror             -0.504         1.741          3.304          0              0              0
  25  Drawer             -0.808         0.611          0.311          0              90             0
  26  Drawer             -0.808         0.312          0.311          0              90             0
  27  CounterTop         -1.850         0.001          0.342          0              90             0
  28  Bathtub            -3.499         0.148          0.939          0              0              0
  29  Drawer             -1.840         0.312          0.311          0              90             0
  30  Faucet             -0.463         0.969          3.212          0              180            0
  31  Drawer             -0.290         0.611          0.311          0              90             0
  32  Drawer             -1.324         0.611          0.311          0              90             0
  33  Drawer             -1.840         0.611          0.311          0              90             0
  34  TowelHolder        -2.553         1.582          0.0            0              0              0
  35  TowelHolder        -2.553         0.859          0.0            0              0              0
  36  GarbageCan         -2.110         -0.001         1.960          0              104.999        0
  37  ToiletPaperHanger  -1.628         0.842          3.305          0              180            0
  38  HandTowelHolder    0.0            1.781          2.956          0              180            0
  39  LightSwitch        0.0            1.368          1.993          0              270            0
  40  Window             -4.083         1.735          1.162          90             270            0
  41  Toilet             -1.835         0.000          2.503          0              90             0
  42  SinkBasin          -0.452         0.888          2.969          0              180            0
  43  BathtubBasin       -3.518         0.210          0.939          0              0              0
  44  ShowerHead         -3.540         1.821          1.820          0              0              0
  45  ShowerCurtain      -3.318         2.572          0.266          0              0              8.184
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: move forward and to the right to face the center of the counter | STEP 2: pick up the tissue box that is to the right of the bottle of lotion in the middle of the counter | STEP 3: turn around and move to the toilet | STEP 4: put the box of tissues on the back of the toilet | END