Task: Grab the toilet paper roll, set it inside the drawer, take the empty roll and put it inside 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              -1.25          0.901          3.5            0              0              0
   1  Cloth              0.502          0.517          3.352          0              0              0              18
   2  Cloth              0.446          0.216          2.527          0              0              0              19
   3  Candle             0.521          0.821          3.239          0              0              0              26
   4  SprayBottle        0.323          0.820          3.129          0              0              0              26
   5  SprayBottle        0.521          0.820          3.458          0              180            0              26
   6  Towel              0.609          1.376          0.583          0              270            0              30
   7  SoapBottle         0.521          0.827          2.106          0              0              0              26
   8  HandTowel          0.634          1.512          1.892          0              90             0              36
   9  Towel              -0.442         1.375          1.282          0              0              0              31
  10  SoapBar            0.389          0.819          2.380          0              0              0              26
  11  ToiletPaper        0.308          0.615          1.912          0              180            90             33
  12  ToiletPaper        0.624          1.041          1.664          0              270            0              38
  13  Candle             0.655          1.046          1.336          0              270            0              38
  14  ScrubBrush         0.553          0.000          1.725          0              0              0
  15  Cloth              0.558          0.215          2.979          0              0              0              28
  16  Plunger            0.594          -0.000         1.898          0              0              0
  17  SprayBottle        0.563          1.046          1.336          0              270            0              38
  18  Drawer             0.443          0.624          3.310          0              0              0
  19  Drawer             0.443          0.323          2.194          0              0              0
  20  ShowerDoor         -0.923         1.032          1.155          0              0              0
  21  Sink               0.495          0.661          2.756          0              270            0
  22  Drawer             0.443          0.624          2.193          0              0              0
  23  Faucet             0.717          0.982          2.756          0              0              0
  24  Mirror             0.629          1.532          2.697          0              0              0
  25  ShowerGlass        -0.152         1.266          1.156          0              0              0
  26  CounterTop         0.458          0.789          2.759          0              0              0
  27  Drawer             0.443          0.323          2.566          0              0              0
  28  Drawer             0.443          0.323          2.937          0              0              0
  29  Drawer             0.443          0.323          3.310          0              0              0
  30  TowelHolder        0.716          1.361          0.583          0              270            0
  31  TowelHolder        -0.442         1.361          1.175          0              0              0
  32  LightSwitch        -1.749         1.429          3.325          0              90             0
  33  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  34  GarbageCan         0.412          -0.029         3.728          0              0              0
  35  SinkBasin          0.440          0.667          2.746          0              270            0
  36  HandTowelHolder    0.673          1.613          1.891          0              180            0
  37  HandTowelHolder    0.673          1.613          3.563          0              180            0
  38  Toilet             0.270          0.000          1.463          0              0              0
  39  ShowerHead         -1.705         1.894          0.587          0              270            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Walk right, turn left and walk to the counter | STEP 2: Take a toilet paper roll from the holder | STEP 3: Walk and turn to the right then to the left and back to the counter | STEP 4: Put the paper roll inside the counter drawer | STEP 5: Walk closer to the toilet  | STEP 6: Take an empty toilet paper roll from the top of the toilet | STEP 7: Walk and turn right and left and back to the counter | STEP 8: Set the empty toilet paper roll and set it inside the counter drawer | END