Task: Put a clean sponge on the rack next to the sink.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.913          -0.75          0              0              0
   1  Cloth              -2.796         0.897          0.759          0              90             0              48
   2  TissueBox          0.430          0.963          -2.087         0              0              0              32
   3  Candle             2.204          0.622          -2.389         0              0              0              40
   4  Candle             -2.921         0.243          1.395          0              90             0              51
   5  SoapBar            1.780          0.623          -2.242         0              0              0              40
   6  SprayBottle        -0.208         0.959          -2.181         0              0              0              32
   7  SprayBottle        -0.527         0.959          -2.181         0              0              0              32
   8  DishSponge         0.414          0.439          -1.872         0              0              0              36
   9  DishSponge         1.142          0.624          -2.020         0              0              0              40
  10  DishSponge         0.010          0.966          2.250          0              270            0              46
  11  SoapBottle         -2.921         0.885          1.317          0              90             0              51
  12  SoapBottle         1.355          0.634          -2.168         0              0              0              40
  13  Candle             -0.051         0.965          2.330          0              270            0              46
  14  HandTowel          -0.885         1.617          -2.503         0              180            0              41
  15  Towel              0.465          1.21           -1.095         0              270            0              37
  16  SoapBottle         0.135          0.976          2.223          0              270            0              46
  17  SoapBar            -0.048         0.962          -1.805         0              0              0              32
  18  ToiletPaper        0.430          0.959          -2.369         0              0              0              32
  19  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  20  SprayBottle        -0.208         0.959          -2.087         0              0              0              32
  21  TissueBox          -2.808         0.244          1.473          0              90             0              51
  22  ToiletPaper        -0.515         0.031          2.338          0              0              90             38
  23  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  24  Cloth              0.185          0.248          -1.905         0              0              0              30
  25  DishSponge         1.780          0.624          -2.094         0              0              0              40
  26  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  27  Bathtub            -1.957         0.494          -1.233         0              0              0
  28  ShowerDoor         0.650          1.413          2.169          0              0              0
  29  ShowerGlass        0.0            0.0            0.0            0              0              0
  30  Drawer             0.300          0.304          -1.820         0              0              0
  31  Mirror             -0.046         1.512          -2.538         0              0              0
  32  CounterTop         0.196          0.430          -2.010         0              0              0
  33  Sink               -2.796         0.328          0.755          0              90             0
  34  Drawer             0.300          0.833          -1.820         0              0              0
  35  Drawer             0.300          0.682          -1.820         0              0              0
  36  Drawer             0.300          0.492          -1.820         0              0              0
  37  TowelHolder        0.572          1.195          -1.095         0              270            0
  38  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  39  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  40  Shelf              1.536          0.613          -2.242         0              0              0
  41  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  42  Window             -3.170         1.812          -1.697         90             90             0
  43  Window             -3.170         1.812          1.597          90             90             0
  44  Window             -2.144         1.809          -2.573         90             0              0
  45  Window             -3.170         1.812          -0.054         90             90             0
  46  Toilet             -0.064         0.012          1.838          0              180            0
  47  LightSwitch        -1.406         1.472          2.407          0              180            0
  48  SinkBasin          -2.796         0.875          0.765          0              90             0
  49  ShowerHead         1.591          1.700          -2.424         0              90             0
  50  Faucet             -2.676         0.423          -0.312         0              99.958         0
  51  SideTable          -2.847         0.013          1.509          0              90             0
  52  Faucet             -3.106         1.056          0.757          0              90             0
  53
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Go near the toilet. | STEP 2: Pick up the sponge that is on the back of the toilet. | STEP 3: Take the sponge to the sink to your left. | STEP 4: Wash the sponge in the sink. | STEP 5: Go forward to the rack at the right of the sink. | STEP 6: Place the sponge vertically on the rack. | END