Task: Put the clean sponge on the counter

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           0.909          2.25           0              90             0
   1  Cloth              -1.230         0.059          3.290          0              0              0              27
   2  DishSponge         -2.607         0.600          1.384          0              0              0              36
   3  DishSponge         -2.364         1.106          3.369          0              0              0              22
   4  SoapBottle         -1.284         1.106          2.983          0              0              0              22
   5  SoapBottle         -2.812         0.600          1.509          0              0              0              36
   6  HandTowel          -0.242         1.76           3.427          0              0              0              39
   7  Plunger            -0.219         0.026          0.490          0              0              0
   8  SoapBar            -2.710         0.598          1.384          0              0              0              36
   9  ToiletPaper        -0.070         0.871          0.377          0              0              90             40
  10  SoapBottle         -1.704         0.056          3.223          0              0              0              24
  11  Towel              0.861          1.358          2.855          0              270            0              33
  12  PaperTowelRoll     -0.323         1.210          3.369          0              0              0              22
  13  ScrubBrush         -0.351         0.026          0.353          0              0              0
  14  Cloth              -2.291         0.111          0.634          0              0              0              35
  15  Candle             -3.017         0.597          1.426          0              0              0              36
  16  DishSponge         -2.942         0.108          0.454          0              0              0              35
  17  SprayBottle        -0.822         1.072          0.333          0              0              0              41
  18  Window             -3.447         1.593          0.648          0              0              0
  19  Mirror             -1.386         1.595          3.464          0              0              0
  20  SinkBasin          -0.837         0.960          3.091          0              180            0
  21  ShowerDoor         -2.477         1.774          2.386          0              0              0
  22  CounterTop         -1.358         1.094          3.151          0              0              0
  23  Sink               -0.846         0.952          3.144          0              180            0
  24  Cabinet            -1.399         0.425          2.867          0              0              0
  25  Bathtub            -2.234         0.288          0.722          0              0              0
  26  Cabinet            -0.337         0.425          2.867          0              0              0
  27  Cabinet            -1.362         0.425          2.867          0              0              0
  28  Cabinet            -2.423         0.425          2.867          0              0              0
  29  ShowerGlass        -2.895         1.423          2.342          0              0              0
  30  Faucet             -0.853         1.094          3.367          0              180            0
  31  ShowerHead         -2.949         2.154          3.427          0              0              0
  32  Window             -2.190         1.550          0.086          0              0              0
  33  TowelHolder        0.967          1.343          2.855          0              270            0
  34  TowelHolder        0.402          1.375          3.466          0              180            0
  35  BathtubBasin       -2.322         0.096          0.634          0              0              0
  36  Shelf              -2.930         0.589          1.425          0              0              0
  37  GarbageCan         -0.061         -0.001         3.131          0              270            0
  38  LightSwitch        0.968          1.432          1.128          0              270            0
  39  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  40  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  41  Toilet             -0.694         0.026          0.656          0              90             0
  42  Faucet             -1.944         1.094          3.367          0              180            0
  43  Sink               -1.934         0.952          3.144          0              180            0
  44  SinkBasin          -1.926         0.960          3.091          0              180            0
  45  Faucet             -1.342         0.638          0.629          0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn left then face the left side of the sink | STEP 2: Pick up the sponge on the left side of the sink | STEP 3: Move backwards a little and face the sink | STEP 4: Put the sponge in the sink and rinse it | STEP 5: Turn right then move few steps then face the counter in between the sinks | STEP 6: Put the sponge on the counter beside the container | END