Task: put a yellow tube with a toilet paper roll inside pull out drawer beneath 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              -0.5           0.901          2.0            0              270            0
   1  SoapBar            0.532          1.044          1.533          0              270            0              33
   2  SoapBottle         0.455          0.827          3.239          0              0              0              21
   3  HandTowel          0.634          1.512          1.892          0              90             0              31
   4  Towel              0.609          1.376          0.583          0              270            0              25
   5  SoapBar            0.654          0.819          3.184          0              0              0              21
   6  ToiletPaper        0.532          1.041          1.270          0              270            0              33
   7  ToiletPaper        0.563          1.041          1.401          0              270            0              33
   8  Candle             0.521          0.821          3.403          0              0              0              21
   9  ScrubBrush         0.553          0.000          1.725          0              0              0
  10  Cloth              0.502          0.215          2.527          0              0              0              14
  11  Plunger            0.594          -0.000         1.898          0              0              0
  12  SprayBottle        0.507          0.208          3.803          0              0              0              29
  13  Drawer             0.443          0.624          3.310          0              0              0
  14  Drawer             0.443          0.323          2.194          0              0              0
  15  ShowerDoor         -0.923         1.032          1.155          0              0              0
  16  Sink               0.495          0.661          2.756          0              270            0
  17  Drawer             0.443          0.624          2.193          0              0              0
  18  Faucet             0.717          0.982          2.756          0              0              0
  19  Mirror             0.629          1.532          2.697          0              0              0
  20  ShowerGlass        -0.152         1.266          1.156          0              0              0
  21  CounterTop         0.458          0.789          2.759          0              0              0
  22  Drawer             0.443          0.323          2.566          0              0              0
  23  Drawer             0.443          0.323          2.937          0              0              0
  24  Drawer             0.443          0.323          3.310          0              0              0
  25  TowelHolder        0.716          1.361          0.583          0              270            0
  26  TowelHolder        -0.442         1.361          1.175          0              0              0
  27  LightSwitch        -1.749         1.429          3.325          0              90             0
  28  ToiletPaperHanger  0.376          0.648          2.009          0              180            0
  29  GarbageCan         0.412          -0.029         3.728          0              0              0
  30  SinkBasin          0.440          0.667          2.746          0              270            0
  31  HandTowelHolder    0.673          1.613          1.891          0              180            0
  32  HandTowelHolder    0.673          1.613          3.563          0              180            0
  33  Toilet             0.270          0.000          1.463          0              0              0
  34  ShowerHead         -1.705         1.894          0.587          0              270            0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: walk over and face the front of the toilet | STEP 2: pick up the yellow tube off the top of the toilet | STEP 3: walk over to the bathroom sink | STEP 4: open the pull out drawer below the sink and put the yellow tube in it | STEP 5: walk back over to the front of the toilet | STEP 6: pick up a toilet paper roll off the top of the toilet | STEP 7: walk over to the sink again | STEP 8: place the toilet paper roll inside the same drawer | END