Task: place a yellow tube in front of a toilet paper roll on the bathroom sink counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.25          0.901          -2.5           0              0              0
   1  Candle             -0.482         1.046          -3.765         0              0              0              31
   2  SoapBar            -2.805         0.995          -2.188         0              0              0              18
   3  SoapBottle         -2.87          0.998          -1.177         0              0              0              18
   4  Towel              -1.051         1.535          -2.887         0              90             0              24
   5  HandTowel          -2.591         1.635          -0.047         0              0              0              26
   6  SoapBar            -2.745         0.921          -0.768         351.180        90             0              33
   7  ToiletPaper        -0.745         1.042          -3.887         0              0              0              31
   8  ToiletPaper        -0.084         0.902          -3.286         0              270            90             31
   9  SoapBottle         -2.871         0.082          -2.086         0              90             0              17
  10  Candle             -2.567         0.080          -1.435         0              0              0              23
  11  ScrubBrush         -1.048         0.000          -3.830         0              0              0              27
  12  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  13  Cloth              -2.770         0.079          -2.032         0              270            0              17
  14  SprayBottle        -0.548         1.046          -3.826         0              0              0              31
  15  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  16  Mirror             -2.947         1.559          -1.194         0              0              0
  17  Cabinet            -2.504         0.400          -2.208         0              0              0
  18  CounterTop         -2.744         0.986          -1.243         0              0              0
  19  Cabinet            -2.504         0.400          -1.238         0              0              0
  20  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  21  Cabinet            -2.508         0.426          -0.290         0              0              0
  22  Sink               -2.907         0.986          -1.761         0              90             0
  23  Cabinet            -2.508         0.426          -1.260         0              0              0
  24  TowelHolder        -1.158         1.521          -2.887         0              90             0
  25  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  26  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  27  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  28  Window             -0.566         1.730          -4.102         90             0              0
  29  LightSwitch        -1.332         1.391          0.001          0              180            0
  30  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  31  Toilet             -0.319         0.000          -3.533         0              90             0
  32  Faucet             -2.907         0.993          -1.761         0              90             0
  33  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  34  Sink               -2.907         0.986          -0.732         0              90             0
  35  Faucet             -2.907         0.993          -0.731         0              90             0
  36  ShowerHead         -2.868         1.219          -3.223         0              180            0
  37  EastWall
  38  EastWall
  39  SouthWall

Plan:
STEP 1: turn around and walk up to the toilet | STEP 2: grab the yellow tube off of the floor next to the toilet | STEP 3: turn around, walk forwards a bit and hang a left going towards the middle of the bathroom sinks | STEP 4: place the yellow tube on the counter in between the two sinks | STEP 5: turn around and head back over to the toilet | STEP 6: pick up the toilet paper from the top of the toilet | STEP 7: turn around and head back over to the sink | STEP 8: place the toilet paper on top of the sink behind the yellow tube | END