Task: Put toilet papers into drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -3.0           0.900          3.75           0              0              0
   1  Cloth              -1.273         0.887          1.744          0              0              0              34
   2  Cloth              -2.168         0.274          1.832          0              0              0              27
   3  SoapBar            -3.312         0.537          1.832          0              0              0              25
   4  Candle             -1.013         0.835          1.545          0              0              0              18
   5  SprayBottle        -2.102         0.827          1.756          0              0              0              18
   6  SprayBottle        -1.043         0.120          3.640          0              180            0              37
   7  Candle             -3.451         0.835          1.545          0              0              0              18
   8  HandTowel          -0.923         1.59           2.018          0              90             0              35
   9  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  10  SoapBar            -1.079         1.044          4.460          0              270            0              38
  11  ToiletPaper        -2.462         0.823          1.651          0              0              0              18
  12  Cloth              -4.309         0.209          2.074          0              270            0              33
  13  ToiletPaper        -2.372         0.823          1.756          0              0              0              18
  14  Towel              -4.739         1.522          3.359          0              90             0              30
  15  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  16  SoapBottle         -2.192         0.828          1.439          0              0              0              18
  17  SprayBottle        -3.432         0.827          1.651          0              0              0              18
  18  CounterTop         -2.177         0.782          1.889          0              0              0
  19  Drawer             -1.307         0.606          1.890          0              0              0
  20  Drawer             -1.307         0.337          1.890          0              0              0
  21  Faucet             -4.646         0.448          1.689          0              0              0
  22  ShowerDoor         -4.873         1.235          3.947          0              0              0
  23  Drawer             -3.029         0.337          1.890          0              0              0
  24  Drawer             -2.169         0.606          1.890          0              0              0
  25  Drawer             -3.029         0.606          1.890          0              0              0
  26  Bathtub            -4.080         0.297          2.480          0              345.000        0
  27  Drawer             -2.169         0.337          1.890          0              0              0
  28  Mirror             -2.177         1.856          1.390          0              0              0
  29  Sink               -1.421         0.837          1.776          0              0              0
  30  TowelHolder        -4.846         1.508          3.358          0              90             0
  31  TowelHolder        -4.846         1.508          2.424          0              90             0
  32  LightSwitch        -2.165         1.450          4.972          0              180            0
  33  BathtubBasin       -4.309         0.192          2.328          0              270            0
  34  SinkBasin          -1.442         0.874          1.785          0              0              0
  35  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  36  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  37  GarbageCan         -1.116         -0.037         3.598          0              270            0
  38  Toilet             -1.340         -0.000         4.456          0              0              0
  39  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  40  Faucet             -1.421         0.954          1.507          0              0              0
  41  ShowerHead         -5.257         1.733          4.030          0              90             0
  42  Faucet             -2.944         0.954          1.507          0              0              0
  43  Sink               -2.943         0.837          1.776          0              0              0
  44  SinkBasin          -2.964         0.874          1.785          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right, go forward, turn right and go to the counter | STEP 2: Pick up the empty toilet paper on the counter | STEP 3: Turn around, go forward a bit, turn around | STEP 4: Open the drawer under the counter, put the empty toilet paper in the drawer, close the drawer | STEP 5: Turn right, go forward a bit, turn left, go to the counter | STEP 6: Pick up the toilet paper on the counter | STEP 7: Turn around, go forward a bit, turn around | STEP 8: Open the drawer under the counter, put the toilet paper in the drawer, close the drawer | END