Task: Put a cleaned scrub sponge in the bottom drawer of a desk.

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          1.25           0              270            0
   1  Cloth              1.567          0.622          -2.168         0              0              0              36
   2  Cloth              1.142          0.622          -2.094         0              0              0              36
   3  SprayBottle        -0.208         0.959          -2.087         0              0              0              28
   4  SprayBottle        1.355          0.620          -2.242         0              0              0              36
   5  DishSponge         -2.099         0.078          -0.868         0              45             0              44
   6  DishSponge         -2.140         0.078          -1.145         0              45             0              28
   7  SoapBottle         -0.048         0.973          -1.805         0              0              0              28
   8  ToiletPaper        -3.090         0.243          1.317          0              90             0              47
   9  Candle             0.930          0.622          -2.168         0              0              0              36
  10  HandTowel          -0.885         1.617          -2.503         0              180            0              37
  11  Towel              0.465          1.21           -1.095         0              270            0              33
  12  SoapBottle         -2.864         0.255          1.473          0              90             0              47
  13  SoapBar            -0.051         0.965          2.223          0              270            0              42
  14  ToiletPaper        -0.178         0.957          2.268          0              0              0              42
  15  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  16  SprayBottle        -2.808         0.243          1.317          0              90             0              47
  17  TissueBox          -2.977         0.874          1.473          0              90             0              47
  18  ToiletPaper        -0.051         0.962          2.330          0              270            0              42
  19  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  20  Cloth              1.142          0.622          -2.315         0              0              0              36
  21  DishSponge         -2.258         0.078          -1.027         0              45             0              44
  22  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  23  Bathtub            -1.957         0.494          -1.233         0              0              0
  24  ShowerDoor         0.650          1.413          2.169          0              0              0
  25  ShowerGlass        0.0            0.0            0.0            0              0              0
  26  Drawer             0.300          0.304          -1.820         0              0              0
  27  Mirror             -0.046         1.512          -2.538         0              0              0
  28  CounterTop         0.196          0.430          -2.010         0              0              0
  29  Sink               -2.796         0.328          0.755          0              90             0
  30  Drawer             0.300          0.833          -1.820         0              0              0
  31  Drawer             0.300          0.682          -1.820         0              0              0
  32  Drawer             0.300          0.492          -1.820         0              0              0
  33  TowelHolder        0.572          1.195          -1.095         0              270            0
  34  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  35  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  36  Shelf              1.536          0.613          -2.242         0              0              0
  37  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  38  Window             -3.170         1.812          -1.697         90             90             0
  39  Window             -3.170         1.812          1.597          90             90             0
  40  Window             -2.144         1.809          -2.573         90             0              0
  41  Window             -3.170         1.812          -0.054         90             90             0
  42  Toilet             -0.064         0.012          1.838          0              180            0
  43  LightSwitch        -1.406         1.472          2.407          0              180            0
  44  SinkBasin          -2.796         0.875          0.765          0              90             0
  45  ShowerHead         1.591          1.700          -2.424         0              90             0
  46  Faucet             -2.676         0.423          -0.312         0              99.958         0
  47  SideTable          -2.847         0.013          1.509          0              90             0
  48  Faucet             -3.106         1.056          0.757          0              90             0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn left and take four steps, turn right for one step, then turn left to face the tub. | STEP 2: Pick up the scrub sponge that is to the left of the two sponges nearest the drain. | STEP 3: Turn right for one step; turn right again to face the sink. | STEP 4: Put the sponge in the sink, standing vertically with the green side to the right, turn the water on for a few seconds and turn off, then pick up the sponge when the water has drained. | STEP 5: Turn right and take nine steps, take another right and walk to the black and white desk.  | STEP 6: Open the bottom drawer on the left, place the sponge lying down on the far left with the green side up. Close the drawer. | END