Task: Place a yellow tube in the cupboard

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           0.901          -2.75          0              0              0
   1  SoapBottle         -2.355         0.808          -2.525         0              0              0              20
   2  Candle             -2.443         0.815          -3.474         0              0              0              20
   3  Cloth              -2.443         0.806          -2.328         0              0              0              20
   4  HandTowel          -2.962         1.584          -2.569         0              270            0              24
   5  Plunger            -0.125         0.000          -3.493         0              0              0              Floor|-00.04|
   6  SoapBar            -2.613         0.066          -3.081         0              0              0              13
   7  ToiletPaper        -0.129         1.042          -3.180         0              270            0              29
   8  ToiletPaper        -0.093         0.842          -2.618         0              270            270            22
   9  Towel              -1.291         1.386          -0.63          0              270            0              21
  10  SoapBottle         -2.387         0.067          -2.320         0              180            0              17
  11  SprayBottle        -2.537         0.067          -2.494         0              0              0              17
  12  ScrubBrush         -0.325         0.000          -3.342         0              0              0              Floor|-00.04|
  13  Cabinet            -2.293         0.324          -3.254         0              0              0
  14  Mirror             -3.0           1.659          -3.069         0              0              0
  15  Sink               -2.661         0.785          -3.069         0              90             0
  16  ShowerGlass        -0.599         1.097          -1.124         0              0              0
  17  Cabinet            -2.299         0.345          -2.250         0              0              0
  18  Cabinet            -2.293         0.324          -3.814         0              0              0
  19  ShowerDoor         -1.179         1.090          -1.220         0              0              0
  20  CounterTop         -2.632         0.843          -3.040         0              0              0
  21  TowelHolder        -1.184         1.371          -0.629         0              270            0
  22  ToiletPaperHanger  0.0            0.943          -2.536         0              270            0
  23  HandTowelHolder    -3.000         1.685          -3.550         0              0              0
  24  HandTowelHolder    -3.000         1.685          -2.569         0              0              0
  25  Window             -0.567         1.706          -4.002         90             0              0
  26  SinkBasin          -2.669         0.863          -3.063         0              90             0
  27  GarbageCan         -0.459         -0.043         -3.769         0              0              0
  28  LightSwitch        -1.945         1.503          0.000          0              180            0
  29  Toilet             -0.452         0.000          -3.052         0              0              0
  30  Faucet             -3.0           1.167          -3.073         0              180            0
  31  ShowerHead         -0.614         1.934          -0.013         0              0              0
  32  EastWall
  33  EastWall
  34  SouthWall

Plan:
STEP 1: Move to the left side of the sink where the counter top is | STEP 2: Pick up the yellow tube sitting on top of the counter top to the left of the sink | STEP 3: Move to the middle cabinet directly under the sink | STEP 4: Open the middle cupboard, place yellow tube in the cupboard then shut the cupboard | END