Task: Put an empty toilet paper tube and roll of toilet paper into a bathroom 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          0.900          3.0            0              0              0
   1  Candle             -1.860         1.046          1.943          0              90             0              33
   2  SoapBottle         -1.864         0.069          2.998          0              0              0              23
   3  Towel              -0.07          1.284          0.106          0              0              0              25
   4  HandTowel          -1.731         1.333          3.961          0              0              0              27
   5  SoapBar            -1.695         0.770          3.098          0              0              0              15
   6  ToiletPaper        -0.544         0.443          0.163          0              0              0              14
   7  ToiletPaper        -1.831         0.584          2.390          0              180            90             30
   8  Cloth              -1.235         0.074          0.764          0              315            0              16
   9  SprayBottle        -1.791         0.772          3.147          0              0              0              15
  10  Candle             -1.700         0.069          3.504          0              0              0              20
  11  ScrubBrush         -1.664         -0.000         3.897          0              0              0              Floor|-02.00|
  12  Plunger            -1.888         -0.000         3.885          0              0              0              Floor|-02.00|
  13  SoapBottle         -1.921         1.046          1.812          0              90             0              33
  14  Bathtub            -1.414         -0.002         0.563          0              0              0
  15  CounterTop         -1.799         0.746          3.122          0              0              0
  16  BathtubBasin       -1.613         0.052          0.540          0              0              0
  17  Cabinet            -1.613         0.309          2.493          0              0              0
  18  ShowerDoor         0.527          1.037          2.115          0              0              0
  19  Mirror             -1.993         1.424          3.107          0              0              0
  20  Cabinet            -1.613         0.309          3.754          0              0              0
  21  Faucet             -1.873         0.461          0.641          0              0              0
  22  Sink               -1.834         0.685          2.777          0              90             0
  23  Cabinet            -1.613         0.309          3.105          0              0              0
  24  Cabinet            -1.613         0.309          3.140          0              0              0
  25  TowelHolder        -0.070         1.269          0.0            0              0              0
  26  GarbageCan         0.932          -0.029         3.761          0              0              0
  27  HandTowelHolder    -1.730         1.434          4.0            0              90             0
  28  Window             -1.039         1.393          0.018          90             0              0
  29  Window             -1.986         1.392          0.706          90             90             0
  30  ToiletPaperHanger  -1.776         0.681          2.474          0              180            0
  31  SinkBasin          -1.795         0.694          2.781          0              90             0
  32  LightSwitch        1.250          1.330          3.621          0              270            0
  33  Toilet             -1.567         -0.000         1.815          0              180            0
  34  Drawer             0.204          0.940          3.807          0              180            0
  35  Dresser            0.204          0.000          3.832          0              180            0
  36  Drawer             0.204          0.160          3.807          0              180            0
  37  Drawer             0.204          0.420          3.807          0              180            0
  38  Drawer             0.204          0.680          3.807          0              180            0
  39  SinkBasin          -1.795         0.694          3.476          0              90             0
  40  Sink               -1.833         0.685          3.472          0              90             0
  41  Faucet             -1.988         0.947          3.472          0              180            0
  42  ShowerHead         0.972          1.222          2.015          0              270            0
  43  Faucet             -1.988         0.947          2.776          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and go forward to the right side of the toilet, then turn right to face the space between the toilet and sink. | STEP 2: Pick up the empty toilet paper tube from the floor between the wastebasket and sink cabinet. | STEP 3: Face the opposite direction, then go to the white cabinet on your left. | STEP 4: Put the empty tube into the back right corner of the bottom drawer. | STEP 5: Turn around and cross the room to  the back left corner of the tub. | STEP 6: Pick up the roll of toilet paper between the tub and the white hanging towels. | STEP 7: Turn around and return to the white cabinet. | STEP 8: Put the roll of toilet paper into the bottom drawer, to the left of the empty tube. | END