Task: Put a rinsed sponge on a dresser.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.902          1.0            0              90             0
   1  Cloth              -1.894         0.441          -0.586         0              90             0              33
   2  Cloth              -3.948         0.038          0.409          0              0              0              46
   3  SprayBottle        -2.803         0.700          -0.642         0              90             0              32
   4  Candle             -3.176         0.611          1.321          0              0              0              37
   5  Candle             -0.669         0.953          -0.775         0              90             0              44
   6  SoapBar            -2.246         0.177          -0.635         0              90             0              29
   7  DishSponge         -3.215         0.613          1.762          0              0              0              37
   8  DishSponge         -3.861         0.040          0.965          0              0              0              37
   9  DishSponge         -2.791         0.443          -0.732         0              90             0              35
  10  SoapBottle         -0.732         0.957          -0.722         0              90             0              44
  11  HandTowel          -2.576         1.683          2.244          0              0              0              41
  12  Towel              -3.66          1.567          -0.459         0              0              0              39
  13  Candle             -2.575         0.702          -0.755         0              90             0              32
  14  HandTowel          -1.275         1.683          2.244          0              0              0              42
  15  SoapBar            -1.541         0.175          -0.538         0              90             0              36
  16  ToiletPaper        -1.380         0.695          -0.751         0              0              0              32
  17  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  18  SprayBottle        -1.892         0.700          -0.698         0              90             0              32
  19  SoapBottle         -2.079         1.095          2.164          0              180            0              27
  20  TissueBox          -2.575         0.704          -0.585         0              90             0              32
  21  ToiletPaper        -0.857         0.951          -0.722         0              90             0              44
  22  PaperTowelRoll     -0.607         1.060          -0.802         0              180            0              44
  23  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  24  Cloth              -2.347         0.702          -0.642         0              90             0              32
  25  DishSponge         -3.689         0.040          0.409          0              0              0              37
  26  Drawer             -1.444         0.531          -0.620         0              90             0
  27  Sink               -1.919         0.441          2.032          0              180            0
  28  Drawer             -2.343         0.531          -0.620         0              90             0
  29  Drawer             -2.343         0.271          -0.620         0              90             0
  30  Drawer             -1.894         0.271          -0.620         0              90             0
  31  Drawer             -2.791         0.271          -0.620         0              90             0
  32  CounterTop         -2.799         0.001          -0.593         0              90             0
  33  Drawer             -1.894         0.531          -0.620         0              90             0
  34  Mirror             -1.909         1.748          2.280          0              0              0
  35  Drawer             -2.791         0.531          -0.620         0              90             0
  36  Drawer             -1.444         0.271          -0.620         0              90             0
  37  Bathtub            -3.706         0.342          0.636          0              0              0
  38  Faucet             -1.919         1.064          2.182          0              180            0
  39  TowelHolder        -3.660         1.552          -0.558         0              0              0
  40  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  41  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  42  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  43  LightSwitch        -0.558         1.282          2.281          0              180            0
  44  Toilet             -0.720         0.001          -0.310         0              0              0
  45  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  46  BathtubBasin       -3.788         0.028          0.595          0              0              0
  47  SinkBasin          -1.908         1.011          1.981          0              180            0
  48  ShowerHead         -3.740         1.858          1.827          0              0              0
  49  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around, walk towards the tub, turn right and face the tub to the left. | STEP 2: Pick up the green sponge on the edge of the tub behind the green curtain. | STEP 3: Turn around to face the sink. | STEP 4: Put the sponge inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and walk to the white dresser ahead. | STEP 6: Put the rinsed sponge on the dresser in front of the red towel. | END