Task: put a cup ad toilet paper in a drawer

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -4.0           0.900          4.25           0              90             0
   1  Cloth              -1.306         0.542          1.883          0              0              0              20
   2  Cloth              -1.017         1.049          4.460          0              270            0              39
   3  SprayBottle        -1.086         0.121          3.608          0              0              0              38
   4  SprayBottle        -1.555         0.827          2.148          0              0              0              19
   5  Towel              -4.739         1.522          2.425          0              90             0              32
   6  ToiletPaper        -0.968         0.888          3.960          0              270            270            40
   7  ToiletPaper        -1.922         0.823          1.756          0              0              0              19
   8  Candle             -1.401         0.546          1.780          0              0              0              20
   9  HandTowel          -3.726         1.646          1.330          0              180            0              37
  10  Plunger            -1.064         -0.000         4.838          0              0              0              Floor|-03.84|
  11  SoapBar            -2.282         0.826          1.968          0              0              0              19
  12  ToiletPaper        -1.043         0.115          3.703          0              90             0              38
  13  Cloth              -1.588         0.887          1.827          0              0              0              35
  14  ToiletPaper        -2.192         0.823          1.545          0              0              0              19
  15  Towel              -4.739         1.522          3.359          0              90             0              31
  16  ScrubBrush         -1.065         -0.000         4.052          0              0              0              Floor|-03.84|
  17  SoapBottle         -2.102         0.828          1.439          0              0              0              19
  18  SprayBottle        -2.855         0.827          2.132          0              0              0              19
  19  CounterTop         -2.177         0.782          1.889          0              0              0
  20  Drawer             -1.307         0.606          1.890          0              0              0
  21  Drawer             -1.307         0.337          1.890          0              0              0
  22  Faucet             -4.646         0.448          1.689          0              0              0
  23  ShowerDoor         -4.873         1.235          3.947          0              0              0
  24  Drawer             -3.029         0.337          1.890          0              0              0
  25  Drawer             -2.169         0.606          1.890          0              0              0
  26  Drawer             -3.029         0.606          1.890          0              0              0
  27  Bathtub            -4.080         0.297          2.480          0              345.000        0
  28  Drawer             -2.169         0.337          1.890          0              0              0
  29  Mirror             -2.177         1.856          1.390          0              0              0
  30  Sink               -1.421         0.837          1.776          0              0              0
  31  TowelHolder        -4.846         1.508          3.358          0              90             0
  32  TowelHolder        -4.846         1.508          2.424          0              90             0
  33  LightSwitch        -2.165         1.450          4.972          0              180            0
  34  BathtubBasin       -4.309         0.192          2.328          0              270            0
  35  SinkBasin          -1.442         0.874          1.785          0              0              0
  36  HandTowelHolder    -0.884         1.692          2.017          0              180            0
  37  HandTowelHolder    -3.726         1.748          1.292          0              270            0
  38  GarbageCan         -1.116         -0.037         3.598          0              270            0
  39  Toilet             -1.340         -0.000         4.456          0              0              0
  40  ToiletPaperHanger  -0.884         0.888          3.911          0              270            0
  41  Faucet             -1.421         0.954          1.507          0              0              0
  42  ShowerHead         -5.257         1.733          4.030          0              90             0
  43  Faucet             -2.944         0.954          1.507          0              0              0
  44  Sink               -2.943         0.837          1.776          0              0              0
  45  SinkBasin          -2.964         0.874          1.785          0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn to your right, go to the double sinks | STEP 2: pick up the brown cup | STEP 3: open the door that is to your left under the sink closest to the wall | STEP 4: put the cup into the drawer | STEP 5: turn around, go to the black trash can that is next to the toilet | STEP 6: take the toilet paper out of the trash can | STEP 7: go back to the drawer with the cup; open the drawer | STEP 8: put the toilet paper in the drawer next to the cup; shut the drawer | END