Task: Put a 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              -1.75          0.909          2.0            0              90             0
   1  SoapBar            -0.843         0.969          3.007          0              180            0              19
   2  SoapBar            -0.108         0.071          3.185          0              270            0              36
   3  Candle             -1.464         0.598          1.156          0              0              0              24
   4  HandTowel          -0.242         1.76           3.427          0              0              0              38
   5  Plunger            -0.219         0.026          0.490          0              0              0
   6  SoapBar            -0.560         1.070          0.394          0              0              0              40
   7  ToiletPaper        -1.797         0.596          1.184          0              0              0              24
   8  SoapBottle         -2.297         0.601          1.184          0              0              0              24
   9  ToiletPaper        -3.017         0.595          1.426          0              0              0              35
  10  Towel              0.861          1.358          2.855          0              270            0              32
  11  PaperTowelRoll     -0.691         1.177          0.363          0              0              0              40
  12  ScrubBrush         -0.351         0.026          0.353          0              0              0
  13  Cloth              -0.643         0.059          3.223          0              0              0              25
  14  Candle             -0.560         1.069          0.241          0              0              0              40
  15  DishSponge         -2.291         0.108          0.815          0              0              0              34
  16  SprayBottle        -2.340         1.105          2.983          0              0              0              21
  17  Window             -3.447         1.593          0.648          0              0              0
  18  Mirror             -1.386         1.595          3.464          0              0              0
  19  SinkBasin          -0.837         0.960          3.091          0              180            0
  20  ShowerDoor         -2.477         1.774          2.386          0              0              0
  21  CounterTop         -1.358         1.094          3.151          0              0              0
  22  Sink               -0.846         0.952          3.144          0              180            0
  23  Cabinet            -1.399         0.425          2.867          0              0              0
  24  Bathtub            -2.234         0.288          0.722          0              0              0
  25  Cabinet            -0.337         0.425          2.867          0              0              0
  26  Cabinet            -1.362         0.425          2.867          0              0              0
  27  Cabinet            -2.423         0.425          2.867          0              0              0
  28  ShowerGlass        -2.895         1.423          2.342          0              0              0
  29  Faucet             -0.853         1.094          3.367          0              180            0
  30  ShowerHead         -2.949         2.154          3.427          0              0              0
  31  Window             -2.190         1.550          0.086          0              0              0
  32  TowelHolder        0.967          1.343          2.855          0              270            0
  33  TowelHolder        0.402          1.375          3.466          0              180            0
  34  BathtubBasin       -2.322         0.096          0.634          0              0              0
  35  Shelf              -2.930         0.589          1.425          0              0              0
  36  GarbageCan         -0.061         -0.001         3.131          0              270            0
  37  LightSwitch        0.968          1.432          1.128          0              270            0
  38  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  39  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  40  Toilet             -0.694         0.026          0.656          0              90             0
  41  Faucet             -1.944         1.094          3.367          0              180            0
  42  Sink               -1.934         0.952          3.144          0              180            0
  43  SinkBasin          -1.926         0.960          3.091          0              180            0
  44  Faucet             -1.342         0.638          0.629          0              90             0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and face the tub. | STEP 2: Pick the green sponge up out of the tub. | STEP 3: Turn around and face the sink. | STEP 4: Put the sponge in the sink and turn the water on and then off and then pick the sponge up again. | STEP 5: Move to the left and face the counter in between the sinks. | STEP 6: Put the sponge on the sink. | END