Task: Place two rolls of toilet paper, one empty, one full, in a drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          1.25           0              180            0
   1  Cloth              -1.488         0.243          2.928          0              0              0              20
   2  Cloth              -1.570         0.243          3.329          0              0              0              20
   3  Candle             -1.887         0.772          2.676          0              0              0              21
   4  Candle             -1.798         1.087          0.485          0              90             0              35
   5  SprayBottle        -1.873         1.047          0.682          0              90             0              35
   6  SoapBottle         -1.800         0.045          1.348          0              180            0              32
   7  ToiletPaper        -1.372         0.728          2.776          0              0              0              21
   8  ToiletPaper        -1.629         0.728          2.877          0              0              0              21
   9  Candle             -1.543         0.772          2.726          0              0              0              21
  10  HandTowel          -1.513         1.461          3.962          0              0              0              27
  11  Plunger            -1.685         0.000          0.327          0              0              0              Floor|-02.00|
  12  Towel              0.871          1.172          2.356          0              0              0              26
  13  SoapBottle         -1.458         0.731          2.927          0              0              0              21
  14  SoapBar            -1.629         0.731          2.977          0              0              0              21
  15  ToiletPaper        -1.553         0.624          0.053          0              0              270            31
  16  Cloth              -1.488         0.243          1.865          0              0              0              23
  17  ToiletPaper        -1.715         0.728          2.726          0              0              0              21
  18  ScrubBrush         -1.849         0.000          0.137          0              0              0              Floor|-02.00|
  19  SprayBottle        -1.873         1.047          0.879          0              90             0              35
  20  Drawer             -1.335         0.301          3.329          0              0              0
  21  CounterTop         -1.608         0.701          2.831          0              0              0
  22  ShowerDoor         0.564          1.018          1.115          0              0              0
  23  Drawer             -1.335         0.301          2.132          0              0              0
  24  Mirror             -1.924         1.414          2.759          0              0              0
  25  Sink               -1.695         0.616          2.283          0              90             0
  26  TowelHolder        0.870          1.157          2.25           0              0              0
  27  HandTowelHolder    -1.513         1.562          4.000          0              90             0
  28  HandTowelHolder    -2.0           1.690          1.323          0              0              0
  29  Window             -1.037         1.399          0.019          90             0              0
  30  Window             -1.986         1.396          0.707          90             90             0
  31  ToiletPaperHanger  -1.498         0.721          0.000          0              0              0
  32  GarbageCan         -1.739         -0.031         1.268          0              90             0
  33  LightSwitch        1.25           1.273          3.634          0              270            0
  34  SinkBasin          -1.674         0.633          2.274          0              270            0
  35  Toilet             -1.547         0.000          0.685          0              180            0
  36  Sink               -1.695         0.616          3.365          0              90             0
  37  SinkBasin          -1.674         0.633          3.355          0              270            0
  38  ShowerHead         0.853          1.797          1.108          0              180            0
  39  Faucet             -1.926         0.721          2.285          0              90             0
  40  Faucet             -1.926         0.721          3.368          0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and walk to the counter with two sinks on your left.  | STEP 2: Pick up the roll of toilet paper that is behind a perfume bottle on this counter. | STEP 3: Back up from the counter a bit and open the drawer underneath the right sink. | STEP 4: Place the roll of toilet paper in this drawer. | STEP 5: Walk back to the middle of the counter.  | STEP 6: Pick up the empty roll of toilet paper from between the two candles. | STEP 7: Walk back to where you can access the drawer under the right sink.  | STEP 8: Place the empty roll in the drawer.  | END