Task: Rinse a sponge to set next to a bar of soap in a cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.902          0.75           0              90             0
   1  Cloth              -2.610         0.093          2.709          0              0              0              36
   2  Cloth              -2.793         0.089          2.180          0              0              0              26
   3  Candle             -2.595         0.915          2.958          0              0              0              27
   4  Candle             -2.883         1.214          1.460          0              270            0              38
   5  SoapBar            -2.651         0.092          3.113          0              0              0              36
   6  SprayBottle        -0.183         0.057          0.245          0              270            0              43
   7  SprayBottle        -2.792         1.206          1.460          0              270            0              38
   8  DishSponge         -2.826         0.930          2.818          0              0              0              37
   9  Towel              -0.106         1.510          1.943          0              270            0              39
  10  Candle             -2.701         1.214          1.550          0              270            0              38
  11  SoapBottle         -2.613         0.093          3.328          0              0              0              25
  12  HandTowel          -2.698         1.521          2.867          0              0              0              40
  13  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  14  SoapBar            -2.671         0.088          1.631          0              0              0              32
  15  ToiletPaper        -2.609         0.085          2.324          0              0              0              26
  16  Cloth              -2.600         1.664          3.402          0              0              0              34
  17  ToiletPaper        -2.927         1.197          1.459          0              0              0              38
  18  SprayBottle        -2.800         0.904          3.364          0              0              0              29
  19  PaperTowelRoll     -2.900         1.034          1.714          0              0              0              37
  20  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  21  DishSponge         -2.656         0.746          3.385          0              0              0              33
  22  Cabinet            -2.410         0.371          2.862          0              0              0
  23  Mirror             -2.973         1.613          2.265          0              0              0
  24  Bathtub            -0.435         0.182          1.575          0              0              0
  25  Cabinet            -2.410         0.371          3.570          0              0              0
  26  Cabinet            -2.410         0.371          2.040          0              0              0
  27  Cabinet            -2.410         1.261          2.913          0              0              0
  28  Faucet             -0.769         0.416          1.0            0              9.958          0
  29  Cabinet            -2.410         1.261          3.570          0              0              0
  30  Sink               -2.723         0.862          2.231          0              90             0
  31  Cabinet            -2.410         2.022          2.913          0              0              0
  32  Cabinet            -2.410         0.371          1.585          0              0              0
  33  Drawer             -2.638         0.767          3.239          0              0              0
  34  Cabinet            -2.410         2.022          3.570          0              0              0
  35  Faucet             -2.928         0.978          2.231          0              90             0
  36  Cabinet            -2.410         0.371          2.913          0              0              0
  37  CounterTop         -2.688         0.966          2.260          0              0              0
  38  CounterTop         -2.611         1.243          1.455          0              270            0
  39  TowelHolder        0.0            1.496          1.942          0              270            0
  40  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  41  Window             -2.256         1.656          -0.021         90             0              0
  42  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  43  GarbageCan         -0.403         -0.027         0.241          0              0              0
  44  BathtubBasin       -0.435         0.185          1.544          0              0              0
  45  SinkBasin          -2.736         0.929          2.241          0              90             0
  46  LightSwitch        -1.675         1.442          3.610          0              180            0
  47  Toilet             -2.579         0.032          0.656          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Hang a right to reach the sink. | STEP 2: Pick up the sponge to the right of the sink. | STEP 3: Walk to the sink. | STEP 4: Rinse the sponge in the sink, removing it afterwards. | STEP 5: Turn to face the cabinets to the right of the sink. | STEP 6: Set the sponge down in the lower cabinet on the lefthand side where the soap is. | END