Task: Put a clean sponge in the tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.913          0.0            0              270            0
   1  Cloth              1.142          0.622          -2.094         0              0              0              31
   2  SoapBar            -0.051         0.965          2.223          0              270            0              37
   3  DishSponge         -2.808         0.245          1.707          0              90             0              42
   4  Candle             -0.239         0.965          2.330          0              270            0              37
   5  HandTowel          -0.885         1.617          -2.503         0              180            0              32
   6  Towel              0.465          1.21           -1.095         0              270            0              28
   7  SoapBottle         -3.034         0.255          1.395          0              90             0              42
   8  SoapBar            -2.046         0.076          -0.816         0              45             0              39
   9  ToiletPaper        0.111          0.959          -2.181         0              0              0              23
  10  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  11  SprayBottle        1.142          0.620          -2.389         0              0              0              31
  12  TissueBox          -0.048         0.963          -1.993         0              0              0              23
  13  ToiletPaper        -0.515         0.031          2.338          0              0              90             29
  14  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  15  Cloth              -2.864         0.245          1.551          0              90             0              42
  16  DishSponge         0.010          0.966          2.330          0              270            0              37
  17  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  18  Bathtub            -1.957         0.494          -1.233         0              0              0
  19  ShowerDoor         0.650          1.413          2.169          0              0              0
  20  ShowerGlass        0.0            0.0            0.0            0              0              0
  21  Drawer             0.300          0.304          -1.820         0              0              0
  22  Mirror             -0.046         1.512          -2.538         0              0              0
  23  CounterTop         0.196          0.430          -2.010         0              0              0
  24  Sink               -2.796         0.328          0.755          0              90             0
  25  Drawer             0.300          0.833          -1.820         0              0              0
  26  Drawer             0.300          0.682          -1.820         0              0              0
  27  Drawer             0.300          0.492          -1.820         0              0              0
  28  TowelHolder        0.572          1.195          -1.095         0              270            0
  29  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  30  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  31  Shelf              1.536          0.613          -2.242         0              0              0
  32  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  33  Window             -3.170         1.812          -1.697         90             90             0
  34  Window             -3.170         1.812          1.597          90             90             0
  35  Window             -2.144         1.809          -2.573         90             0              0
  36  Window             -3.170         1.812          -0.054         90             90             0
  37  Toilet             -0.064         0.012          1.838          0              180            0
  38  LightSwitch        -1.406         1.472          2.407          0              180            0
  39  SinkBasin          -2.796         0.875          0.765          0              90             0
  40  ShowerHead         1.591          1.700          -2.424         0              90             0
  41  Faucet             -2.676         0.423          -0.312         0              99.958         0
  42  SideTable          -2.847         0.013          1.509          0              90             0
  43  Faucet             -3.106         1.056          0.757          0              90             0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk across the room to the steel rack. | STEP 2: Pick up the sponge. | STEP 3: Turn left, walk across the room to the tub, and turn around to face the sink. | STEP 4: Put the sponge in the sink, turn on the water, turn off the water, and pick up the sponge. | STEP 5: Turn around to face the tub. | STEP 6: Put the sponge in the tub. | END