Task: put a roll of toilet paper along with an empty toilet paper roll in to the drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.900          2.0            0              270            0
   1  SoapBar            -0.331         0.828          2.656          0              0              0              35
   2  HandTowel          -0.036         1.658          3.443          0              90             0              31
   3  SoapBar            -0.299         0.828          1.820          0              0              0              38
   4  ToiletPaper        -1.156         0.897          3.925          0              180            90             28
   5  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
   6  Candle             -0.470         0.510          2.846          0              0              0              15
   7  SoapBottle         -0.134         0.954          3.783          0              0              0              32
   8  ToiletPaper        -0.417         0.809          2.350          0              0              0              17
   9  SprayBottle        -2.146         0.057          3.818          0              90             0              30
  10  Towel              -1.106         1.151          1.289          0              0              0              29
  11  Cloth              -0.358         0.205          1.923          0              0              0              18
  12  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  13  DishSponge         -0.188         0.954          3.658          0              0              0              32
  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 and move to the counter between the two sinks | STEP 2: pick up the empty toilet paper rolls from the counter | STEP 3: move back slightly from the counter where the two sinks are to face the drawer on the right | STEP 4: open the drawer to the right, put the empty toilet paper roll in to the drawer and close the drawer | STEP 5: turn to the left and move forward to the toilet which will be on the right | STEP 6: remove the toilet paper roll from the toilet paper holder attached to the wall | STEP 7: turn around and move forward to the counter with the sinks on the left, stop at the counter between the two sinks and turn to face the counter | STEP 8: open the drawer on the right and put the toilet paper roll in to the drawer to the right of the empty toilet paper roll | END