Task: Put a clean sponge in the drawer.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          0.5            0              180            0
   1  Cloth              -2.120         0.702          -0.698         0              90             0              26
   2  Cloth              -3.689         0.038          0.224          0              0              0              40
   3  SprayBottle        -2.803         0.700          -0.471         0              90             0              26
   4  SprayBottle        -2.347         0.700          -0.698         0              90             0              26
   5  SoapBar            -2.887         0.441          -0.586         0              90             0              29
   6  Towel              -3.66          1.567          -0.459         0              0              0              33
   7  Candle             -2.488         0.175          -0.489         0              90             0              23
   8  HandTowel          -2.576         1.683          2.244          0              0              0              35
   9  SoapBar            -1.892         0.703          -0.528         0              90             0              26
  10  ToiletPaper        -1.380         0.695          -0.751         0              0              0              26
  11  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  12  SprayBottle        -1.892         0.700          -0.698         0              90             0              26
  13  SoapBottle         -1.760         1.095          2.164          0              180            0              21
  14  TissueBox          -1.665         0.704          -0.755         0              90             0              26
  15  ToiletPaper        -2.575         0.700          -0.698         0              90             0              26
  16  PaperTowelRoll     -1.665         0.809          -0.528         0              90             0              26
  17  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  18  Cloth              -3.602         0.038          0.965          0              0              0              40
  19  DishSponge         -0.794         0.955          -0.775         0              90             0              38
  20  Drawer             -1.444         0.531          -0.620         0              90             0
  21  Sink               -1.919         0.441          2.032          0              180            0
  22  Drawer             -2.343         0.531          -0.620         0              90             0
  23  Drawer             -2.343         0.271          -0.620         0              90             0
  24  Drawer             -1.894         0.271          -0.620         0              90             0
  25  Drawer             -2.791         0.271          -0.620         0              90             0
  26  CounterTop         -2.799         0.001          -0.593         0              90             0
  27  Drawer             -1.894         0.531          -0.620         0              90             0
  28  Mirror             -1.909         1.748          2.280          0              0              0
  29  Drawer             -2.791         0.531          -0.620         0              90             0
  30  Drawer             -1.444         0.271          -0.620         0              90             0
  31  Bathtub            -3.706         0.342          0.636          0              0              0
  32  Faucet             -1.919         1.064          2.182          0              180            0
  33  TowelHolder        -3.660         1.552          -0.558         0              0              0
  34  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  35  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  36  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  37  LightSwitch        -0.558         1.282          2.281          0              180            0
  38  Toilet             -0.720         0.001          -0.310         0              0              0
  39  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  40  BathtubBasin       -3.788         0.028          0.595          0              0              0
  41  SinkBasin          -1.908         1.011          1.981          0              180            0
  42  ShowerHead         -3.740         1.858          1.827          0              0              0
  43  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Go to the toilet in front of you. | STEP 2: Pick up the sponge from the back of the toilet. | STEP 3: Turn right and go forward to the tab, then turn right and go to the wall, then turn right to face the sink. | STEP 4: Wash the sponge in the sink. | STEP 5: Turn right and walk to the drawers ahead. | STEP 6: Put the sponge in the top left drawer. | END