Task: put the cup on top of the water tank

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            0.900          -3.5           0              90             0
   1  Cloth              -1.640         0.042          -3.542         0              270            0              33
   2  TissueBox          0.795          0.818          -1.874         0              90             0              37
   3  Candle             0.824          0.817          -1.975         0              90             0              37
   4  Candle             -1.757         0.817          -0.080         0              0              0              35
   5  SoapBar            -1.640         0.044          -2.682         0              270            0              33
   6  SoapBar            -2.196         0.832          -0.713         0              0              0              32
   7  SprayBottle        0.754          0.815          -0.724         0              90             0              36
   8  SprayBottle        0.754          0.815          -0.522         0              90             0              36
   9  SoapBottle         -1.656         0.821          -0.165         0              0              0              35
  10  SoapBottle         0.054          0.955          -3.847         0              90             0              31
  11  SoapBottle         0.811          0.821          -0.623         0              90             0              36
  12  Cloth              -1.974         0.042          -1.822         0              270            0              33
  13  Candle             -0.070         0.952          -3.847         0              90             0              31
  14  HandTowel          -2.166         1.500          -0.037         0              0              0              28
  15  Towel              -1.525         1.685          -0.105         0              180            0              26
  16  SoapBar            0.824          0.818          -1.773         0              90             0              37
  17  ToiletPaper        0.405          0.729          -3.885         0              0              270            34
  18  Plunger            0.854          -0.000         -3.905         0              0              0              Floor|-01.66|
  19  SprayBottle        -0.133         0.949          -3.901         0              90             0              31
  20  TissueBox          -1.353         0.818          -0.165         0              0              0              35
  21  ToiletPaper        0.767          0.815          -1.975         0              90             0              37
  22  ScrubBrush         0.684          -0.000         -3.905         0              0              0              Floor|-01.66|
  23  Sink               -2.171         0.294          -0.660         0              90             0
  24  Bathtub            -2.122         -0.088         -3.116         0              0              0
  25  Mirror             -2.503         1.423          -0.703         0              0              0
  26  TowelHolder        -1.524         1.671          0.001          0              180            0
  27  GarbageCan         -0.525         -0.050         -3.763         0              0              0
  28  HandTowelHolder    -2.166         1.602          0.000          0              90             0
  29  LightSwitch        0.321          1.327          0.000          0              180            0
  30  Window             -0.540         1.625          -3.996         90             0              0
  31  Toilet             0.004          -0.000         -3.436         0              0              0
  32  SinkBasin          -2.176         0.824          -0.659         0              0              0
  33  BathtubBasin       -1.862         0.033          -2.723         0              270            0
  34  ToiletPaperHanger  0.462          0.841          -3.978         0              0              0
  35  SideTable          -1.526         0.001          -0.172         0              0              0
  36  SideTable          0.780          0.001          -0.667         0              90             0
  37  SideTable          0.793          0.001          -1.817         0              90             0
  38  ShowerCurtain      -1.320         1.781          -3.864         0              0              5.987
  39  Faucet             -2.431         0.982          -0.660         0              90             0
  40  Faucet             -1.909         0.666          -3.855         0              180            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: cross the room to the left  | STEP 2: face the white table pick up the cup from the table  | STEP 3: turn to the left towards the bath tub turn to the left go to the left  | STEP 4: face the toilet leave the cup on top of the water tank  | END