Task: Put a clean sponge on the back of the toilet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.902          0.5            0              270            0
   1  SprayBottle        -2.575         0.700          -0.698         0              90             0              31
   2  Candle             -0.544         0.954          -0.722         0              90             0              43
   3  Candle             -3.319         0.611          1.685          0              0              0              36
   4  SoapBar            -3.948         0.039          1.150          0              0              0              45
   5  DishSponge         -3.602         0.040          1.150          0              0              0              36
   6  DishSponge         -0.857         0.955          -0.775         0              90             0              43
   7  DishSponge         -1.892         0.704          -0.755         0              90             0              31
   8  SoapBottle         -2.347         0.706          -0.698         0              90             0              31
   9  SoapBottle         -1.892         0.706          -0.528         0              90             0              31
  10  HandTowel          -1.275         1.683          2.244          0              0              0              41
  11  Towel              -3.66          1.567          -0.459         0              0              0              38
  12  Candle             -1.991         0.442          -0.586         0              90             0              32
  13  HandTowel          -2.576         1.683          2.244          0              0              0              40
  14  SoapBar            -3.180         0.612          1.762          0              0              0              36
  15  ToiletPaper        -3.284         0.609          1.762          0              0              0              36
  16  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  17  SprayBottle        -2.803         0.700          -0.585         0              90             0              31
  18  SoapBottle         -3.176         0.615          1.094          0              0              0              36
  19  TissueBox          -1.437         0.704          -0.698         0              90             0              31
  20  ToiletPaper        -0.529         0.941          0.245          0              270            90             44
  21  PaperTowelRoll     -2.120         0.809          -0.755         0              90             0              31
  22  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  23  Cloth              -3.775         0.038          0.780          0              0              0              45
  24  DishSponge         -0.732         0.955          -0.722         0              90             0              43
  25  Drawer             -1.444         0.531          -0.620         0              90             0
  26  Sink               -1.919         0.441          2.032          0              180            0
  27  Drawer             -2.343         0.531          -0.620         0              90             0
  28  Drawer             -2.343         0.271          -0.620         0              90             0
  29  Drawer             -1.894         0.271          -0.620         0              90             0
  30  Drawer             -2.791         0.271          -0.620         0              90             0
  31  CounterTop         -2.799         0.001          -0.593         0              90             0
  32  Drawer             -1.894         0.531          -0.620         0              90             0
  33  Mirror             -1.909         1.748          2.280          0              0              0
  34  Drawer             -2.791         0.531          -0.620         0              90             0
  35  Drawer             -1.444         0.271          -0.620         0              90             0
  36  Bathtub            -3.706         0.342          0.636          0              0              0
  37  Faucet             -1.919         1.064          2.182          0              180            0
  38  TowelHolder        -3.660         1.552          -0.558         0              0              0
  39  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  40  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  41  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  42  LightSwitch        -0.558         1.282          2.281          0              180            0
  43  Toilet             -0.720         0.001          -0.310         0              0              0
  44  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  45  BathtubBasin       -3.788         0.028          0.595          0              0              0
  46  SinkBasin          -1.908         1.011          1.981          0              180            0
  47  ShowerHead         -3.740         1.858          1.827          0              0              0
  48  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn around and go forward to the wall, then turn right to face the toilet. | STEP 2: Pick up the leftmost sponge on the back of the toilet. | STEP 3: Turn right and go to the tub, then turn right and go to the wall, then turn right to face the sink. | STEP 4: Clean the sponge in the sink. | STEP 5: Go to the door in front of you, then turn right and go to the toilet up ahead. | STEP 6: Put the sponge on the back of the toilet. | END