Task: Put two rolls of toilet paper into a drawer underneath the sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.901          1.5            0              90             0
   1  Cloth              -3.559         0.190          1.414          0              270            0              44
   2  Candle             -0.363         0.218          2.547          0              0              0              21
   3  SprayBottle        -1.816         0.019          0.165          0              0              0              36
   4  SoapBottle         -2.704         0.954          3.193          0              270            0              42
   5  HandTowel          -0.034         1.537          3.105          0              90             0              38
   6  ToiletPaper        -2.829         0.950          3.220          0              270            0              42
   7  HandTowel          -0.034         1.537          2.309          0              90             0              39
   8  Towel              -1.513         1.496          0.109          0              0              0              34
   9  Cloth              -2.117         0.811          0.342          0              0              0              30
  10  SoapBar            -3.653         0.191          1.273          0              270            0              44
  11  ToiletPaper        -3.017         0.951          3.193          0              270            0              42
  12  Plunger            -2.530         0.000          3.026          0              0              0
  13  Candle             -3.122         0.813          0.467          0              0              0              30
  14  SoapBottle         -0.219         0.813          2.870          0              0              0              33
  15  ToiletPaper        -0.091         0.809          1.554          0              0              0              33
  16  SprayBottle        -0.284         0.813          2.350          0              0              0              33
  17  ScrubBrush         -2.332         0.000          3.163          0              0              0
  18  Drawer             -0.325         0.319          2.155          0              0              0
  19  Mirror             0.0            1.473          1.917          0              270            0
  20  Drawer             -0.325         0.319          1.717          0              0              0
  21  Drawer             -0.325         0.319          2.592          0              0              0
  22  Bathtub            -3.589         0.107          1.521          0              0              0
  23  Drawer             -0.325         0.619          2.592          0              0              0
  24  Drawer             -2.249         0.319          0.280          0              0              0
  25  Drawer             -0.325         0.319          3.030          0              0              0
  26  Mirror             0.0            1.473          2.700          0              270            0
  27  Drawer             -0.325         0.619          3.030          0              0              0
  28  ShowerGlass        -0.494         1.490          0.528          0              0              0
  29  Sink               -2.539         0.661          0.252          0              0              0
  30  CounterTop         -2.540         0.805          0.280          0              0              0
  31  Drawer             -2.844         0.319          0.280          0              0              0
  32  ShowerDoor         -1.074         1.033          0.519          0              0              0
  33  CounterTop         -0.277         0.785          1.931          0              0              0
  34  TowelHolder        -1.513         1.481          0.002          0              0              0
  35  LightSwitch        -0.776         1.371          3.300          0              180            0
  36  GarbageCan         -1.754         0.001          0.227          0              0              0
  37  HandTowelHolder    -3.210         1.588          0.340          0              0              0
  38  HandTowelHolder    0.004          1.639          3.105          0              180            0
  39  HandTowelHolder    0.004          1.639          2.309          0              180            0
  40  HandTowelHolder    0.004          1.639          1.542          0              180            0
  41  Window             -4.127         1.519          1.495          90             270            0
  42  Toilet             -2.842         0.000          2.755          0              180            0
  43  SinkBasin          -2.542         0.706          0.269          0              0              0
  44  BathtubBasin       -3.606         0.182          1.536          0              270            0
  45  ToiletPaperHanger  -2.349         0.824          3.299          0              180            0
  46  Faucet             -2.540         0.794          0.111          0              0              0
  47  Faucet             -0.111         0.794          1.921          0              270            0
  48  ShowerHead         -3.612         1.776          2.299          0              0              0
  49  ShowerHead         -0.079         1.151          0.662          0              0              0
  50  ShowerCurtain      -3.213         2.098          2.186          0              180            0
  51  Sink               -0.260         0.661          1.922          0              270            0
  52  SinkBasin          -0.277         0.706          1.920          0              270            0
  53  NorthWall
  54  SouthWall
  55  SouthWall

Plan:
STEP 1: Turn around 180 degrees, walk to the bath tub, then turn right 90 degrees to face the toilet. | STEP 2: Pick up the roll of toilet paper that is on the back of the toilet in between the soap dispenser and the other roll of toilet paper. | STEP 3: Turn around 180 degrees, keeping the bath tub on the right hand side, and walk towards the sink. | STEP 4: Open the drawer on the left that is underneath the sink, place the roll of toilet paper inside the drawer in the front left corner (near you), and close the drawer. | STEP 5: Turn around 180 degrees and walk back to the toilet. | STEP 6: Pick up the other roll of toilet paper on the back of the toilet on the left hand side. | STEP 7: Turn around 180 degrees, keeping the bath tub on the right hand side, and walk towards the sink. | STEP 8: Open the drawer on the left that is underneath the sink, place the roll of toilet paper inside the drawer directly behind (away from you) the other roll of toilet paper, and close the drawer. | END