Task: Put a clean sponge in the bottom drawer of 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              -0.5           0.913          -0.25          0              0              0
   1  TissueBox          1.355          0.624          -2.315         0              0              0              34
   2  TissueBox          -0.368         0.963          -2.275         0              0              0              26
   3  DishSponge         -0.048         0.964          -2.181         0              0              0              26
   4  DishSponge         0.430          0.964          -2.087         0              0              0              26
   5  DishSponge         0.111          0.964          -2.087         0              0              0              26
   6  ToiletPaper        0.073          0.962          2.277          0              270            0              40
   7  Candle             -2.808         0.245          1.395          0              90             0              45
   8  HandTowel          -0.885         1.617          -2.503         0              180            0              35
   9  Towel              0.465          1.21           -1.095         0              270            0              31
  10  SoapBottle         -2.878         0.067          2.115          0              90             0              45
  11  SoapBar            -0.527         0.962          -2.275         0              0              0              26
  12  ToiletPaper        -0.051         0.962          2.223          0              270            0              40
  13  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  14  SprayBottle        -2.977         0.871          1.707          0              90             0              45
  15  TissueBox          1.142          0.624          -2.094         0              0              0              34
  16  ToiletPaper        0.430          0.959          -1.899         0              0              0              26
  17  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  18  Cloth              -2.921         0.242          1.629          0              90             0              45
  19  DishSponge         1.567          0.624          -2.389         0              0              0              34
  20  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  21  Bathtub            -1.957         0.494          -1.233         0              0              0
  22  ShowerDoor         0.650          1.413          2.169          0              0              0
  23  ShowerGlass        0.0            0.0            0.0            0              0              0
  24  Drawer             0.300          0.304          -1.820         0              0              0
  25  Mirror             -0.046         1.512          -2.538         0              0              0
  26  CounterTop         0.196          0.430          -2.010         0              0              0
  27  Sink               -2.796         0.328          0.755          0              90             0
  28  Drawer             0.300          0.833          -1.820         0              0              0
  29  Drawer             0.300          0.682          -1.820         0              0              0
  30  Drawer             0.300          0.492          -1.820         0              0              0
  31  TowelHolder        0.572          1.195          -1.095         0              270            0
  32  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  33  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  34  Shelf              1.536          0.613          -2.242         0              0              0
  35  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  36  Window             -3.170         1.812          -1.697         90             90             0
  37  Window             -3.170         1.812          1.597          90             90             0
  38  Window             -2.144         1.809          -2.573         90             0              0
  39  Window             -3.170         1.812          -0.054         90             90             0
  40  Toilet             -0.064         0.012          1.838          0              180            0
  41  LightSwitch        -1.406         1.472          2.407          0              180            0
  42  SinkBasin          -2.796         0.875          0.765          0              90             0
  43  ShowerHead         1.591          1.700          -2.424         0              90             0
  44  Faucet             -2.676         0.423          -0.312         0              99.958         0
  45  SideTable          -2.847         0.013          1.509          0              90             0
  46  Faucet             -3.106         1.056          0.757          0              90             0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn to the right and head towards the shower then turn right and go to the counter | STEP 2: Pick up the middle sponge from the counter | STEP 3: Turn around and go halfway to the toilet then turn left and go past the bathtub then turn right and go to the sink | STEP 4: Put the sponge in the sink and turn on the water | STEP 5: Pick up the sponge and turn right and head to the shower then turn right and go to the counter | STEP 6: Put the sponge in the bottom drawer of the counter | END