Task: Put two sponges on a counter.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.900          3.25           0              90             0
   1  Cloth              -0.246         0.206          2.495          0              0              0              30
   2  Cloth              -0.302         0.511          1.978          0              0              0              24
   3  SoapBar            -0.363         0.828          1.627          0              0              0              44
   4  SoapBar            -0.225         0.812          1.260          0              0              0              23
   5  DishSponge         -0.363         0.829          1.772          0              0              0              44
   6  DishSponge         -0.188         0.954          3.658          0              0              0              38
   7  ToiletPaper        -1.156         0.897          3.925          0              180            90             34
   8  HandTowel          -0.036         1.658          3.443          0              90             0              37
   9  SoapBar            -0.289         0.812          3.114          0              0              0              23
  10  ToiletPaper        -0.414         0.202          1.352          0              0              0              26
  11  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  12  Candle             -0.108         0.952          3.471          0              0              0              38
  13  SoapBottle         -0.134         0.954          3.783          0              0              0              38
  14  ToiletPaper        -0.358         0.202          3.012          0              0              0              22
  15  SprayBottle        -0.482         0.813          1.401          0              0              0              23
  16  Towel              -1.106         1.151          1.289          0              0              0              35
  17  Cloth              -0.246         0.512          1.519          0              0              0              29
  18  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  19  DishSponge         -0.300         0.829          2.802          0              0              0              41
  20  Sink               -0.299         0.807          2.754          0              270            0
  21  Drawer             -0.319         0.615          3.012          0              0              0
  22  Drawer             -0.319         0.316          3.012          0              0              0
  23  CounterTop         -0.349         0.004          1.453          0              0              0
  24  Drawer             -0.319         0.615          1.978          0              0              0
  25  Drawer             -0.319         0.316          1.978          0              0              0
  26  Drawer             -0.319         0.316          1.463          0              0              0
  27  Drawer             -0.319         0.615          2.495          0              0              0
  28  ShowerDoor         -1.514         0.910          1.167          0              0              0
  29  Drawer             -0.319         0.615          1.463          0              0              0
  30  Drawer             -0.319         0.316          2.495          0              0              0
  31  Faucet             -0.076         0.805          2.757          0              0              0
  32  Mirror             -0.228         0.465          1.453          0              0              0
  33  ShowerGlass        -0.766         0.541          0.485          0              0              0
  34  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  35  TowelHolder        -1.105         1.136          1.183          0              0              0
  36  GarbageCan         -2.041         -0.000         3.724          0              45             0
  37  HandTowelHolder    0.001          1.759          3.443          0              180            0
  38  Toilet             -0.600         -0.000         3.671          0              270            0
  39  LightSwitch        -2.312         1.386          3.296          0              90             0
  40  Faucet             -0.076         0.805          1.733          0              0              0
  41  SinkBasin          -0.304         0.819          2.753          0              0              0
  42  Sink               -0.298         0.807          1.725          0              270            0
  43  ShowerHead         -0.083         1.248          0.522          0              0              0
  44  SinkBasin          -0.304         0.819          1.723          0              0              0
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn right, go forward to the shower, turn left to face the sink. | STEP 2: Take the sponge from the sink. | STEP 3: Stay at the sink. | STEP 4: Put the sponge on the counter to the left of the sink. | STEP 5: Turn left, go forward, turn right at the left sink. | STEP 6: Take the sponge from the sink. | STEP 7: Turn right, go forward to the right sink, turn left to face the sink. | STEP 8: Put the sponge on the counter to the left of the sink. | END