Task: Place a sponge on the top of a toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.913          0.5            0              0              0
   1  TissueBox          -0.208         0.963          -1.993         0              0              0              24
   2  TissueBox          0.270          0.963          -2.275         0              0              0              24
   3  DishSponge         -3.034         0.245          1.317          0              90             0              43
   4  SoapBottle         0.135          0.976          2.250          0              270            0              38
   5  Candle             -0.208         0.962          -2.181         0              0              0              24
   6  HandTowel          -0.885         1.617          -2.503         0              180            0              33
   7  Towel              0.465          1.21           -1.095         0              270            0              29
   8  SoapBottle         -0.368         0.973          -1.805         0              0              0              24
   9  SoapBar            -2.796         0.884          0.639          0              90             0              40
  10  ToiletPaper        -0.178         0.957          2.268          0              0              0              38
  11  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  12  SprayBottle        -0.527         0.959          -1.805         0              0              0              24
  13  TissueBox          1.142          0.624          -2.168         0              0              0              32
  14  ToiletPaper        0.430          0.959          -2.181         0              0              0              24
  15  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  16  Cloth              0.111          0.961          -1.993         0              0              0              24
  17  DishSponge         -2.246         0.078          -1.251         0              45             0              24
  18  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  19  Bathtub            -1.957         0.494          -1.233         0              0              0
  20  ShowerDoor         0.650          1.413          2.169          0              0              0
  21  ShowerGlass        0.0            0.0            0.0            0              0              0
  22  Drawer             0.300          0.304          -1.820         0              0              0
  23  Mirror             -0.046         1.512          -2.538         0              0              0
  24  CounterTop         0.196          0.430          -2.010         0              0              0
  25  Sink               -2.796         0.328          0.755          0              90             0
  26  Drawer             0.300          0.833          -1.820         0              0              0
  27  Drawer             0.300          0.682          -1.820         0              0              0
  28  Drawer             0.300          0.492          -1.820         0              0              0
  29  TowelHolder        0.572          1.195          -1.095         0              270            0
  30  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  31  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  32  Shelf              1.536          0.613          -2.242         0              0              0
  33  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  34  Window             -3.170         1.812          -1.697         90             90             0
  35  Window             -3.170         1.812          1.597          90             90             0
  36  Window             -2.144         1.809          -2.573         90             0              0
  37  Window             -3.170         1.812          -0.054         90             90             0
  38  Toilet             -0.064         0.012          1.838          0              180            0
  39  LightSwitch        -1.406         1.472          2.407          0              180            0
  40  SinkBasin          -2.796         0.875          0.765          0              90             0
  41  ShowerHead         1.591          1.700          -2.424         0              90             0
  42  Faucet             -2.676         0.423          -0.312         0              99.958         0
  43  SideTable          -2.847         0.013          1.509          0              90             0
  44  Faucet             -3.106         1.056          0.757          0              90             0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Walk to the steel rack to the right of the sink. | STEP 2: Pick up the sponge from the steel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. | END