Task: Put a clean sponge 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              -2.75          0.902          0.75           0              270            0
   1  Cloth              -2.075         1.018          1.981          0              270            0              40
   2  TissueBox          -1.665         0.704          -0.698         0              90             0              25
   3  SoapBar            -1.760         1.093          2.186          0              180            0              20
   4  SoapBar            -0.544         0.954          -0.775         0              90             0              37
   5  Towel              -3.66          1.567          -0.459         0              0              0              32
   6  Candle             -3.110         0.611          1.723          0              0              0              30
   7  HandTowel          -2.576         1.683          2.244          0              0              0              34
   8  SoapBar            -2.159         1.093          2.164          0              180            0              20
   9  ToiletPaper        -1.380         0.695          -0.751         0              0              0              25
  10  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  11  SprayBottle        -2.803         0.700          -0.585         0              90             0              25
  12  SoapBottle         -3.284         0.615          1.609          0              0              0              30
  13  TissueBox          -1.444         0.176          -0.586         0              90             0              29
  14  ToiletPaper        -0.794         0.951          -0.802         0              90             0              37
  15  PaperTowelRoll     -0.794         1.060          -0.695         0              90             0              37
  16  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  17  Cloth              -2.246         0.440          -0.586         0              180            0              21
  18  DishSponge         -3.156         0.613          0.410          0              0              0              30
  19  Drawer             -1.444         0.531          -0.620         0              90             0
  20  Sink               -1.919         0.441          2.032          0              180            0
  21  Drawer             -2.343         0.531          -0.620         0              90             0
  22  Drawer             -2.343         0.271          -0.620         0              90             0
  23  Drawer             -1.894         0.271          -0.620         0              90             0
  24  Drawer             -2.791         0.271          -0.620         0              90             0
  25  CounterTop         -2.799         0.001          -0.593         0              90             0
  26  Drawer             -1.894         0.531          -0.620         0              90             0
  27  Mirror             -1.909         1.748          2.280          0              0              0
  28  Drawer             -2.791         0.531          -0.620         0              90             0
  29  Drawer             -1.444         0.271          -0.620         0              90             0
  30  Bathtub            -3.706         0.342          0.636          0              0              0
  31  Faucet             -1.919         1.064          2.182          0              180            0
  32  TowelHolder        -3.660         1.552          -0.558         0              0              0
  33  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  34  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  35  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  36  LightSwitch        -0.558         1.282          2.281          0              180            0
  37  Toilet             -0.720         0.001          -0.310         0              0              0
  38  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  39  BathtubBasin       -3.788         0.028          0.595          0              0              0
  40  SinkBasin          -1.908         1.011          1.981          0              180            0
  41  ShowerHead         -3.740         1.858          1.827          0              0              0
  42  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn left and take one step forward then turn right to face the bathtub. | STEP 2: Pick up the sponge from the side of the bathtub. | STEP 3: Turn around and walk to the left side of the sink. | STEP 4: Put the sponge in the sink, wash it off, then pick it up. | STEP 5: Turn around and walk to the counter on the other side of the room. | STEP 6: Put the sponge in the top second from the left drawer and close it. | END