Task: Put a clean sponge on the shelf rack

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           0.901          3.25           0              90             0
   1  Cloth              -0.227         0.053          1.575          0              0              0              27
   2  Candle             0.416          1.048          3.297          0              270            0              42
   3  Candle             -2.480         1.544          3.818          0              0              0              38
   4  SprayBottle        -3.093         0.864          0.000          0              270            0              46
   5  SprayBottle        -3.150         0.234          0.078          0              270            0              46
   6  DishSponge         -0.058         0.054          0.654          0              0              0              27
   7  DishSponge         0.385          1.048          2.903          0              270            0              42
   8  SoapBottle         -3.319         0.238          -0.077         0              270            0              46
   9  SoapBottle         -3.387         1.044          1.801          0              0              0              44
  10  HandTowel          -3.420         1.356          0.817          0              270            0              41
  11  Towel              -1.304         1.059          -0.183         0              0              0              33
  12  HandTowel          -3.419         1.338          2.102          0              270            0              40
  13  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  14  SoapBar            -3.376         1.041          1.442          0              0              0              44
  15  ToiletPaper        -0.819         0.039          3.887          0              0              0              39
  16  SoapBottle         -0.962         0.045          3.86           0              0              0              39
  17  ToiletPaper        -2.293         1.540          3.909          0              0              0              38
  18  Cloth              -0.142         0.053          0.193          0              0              0              27
  19  PaperTowelRoll     -2.574         1.649          3.909          0              0              0              38
  20  Candle             0.447          1.048          3.166          0              270            0              42
  21  SprayBottle        -2.667         1.544          3.818          0              0              0              38
  22  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  23  DishSponge         0.313          0.632          1.935          0              317.956        0              30
  24  Faucet             -0.141         0.524          -0.211         0              0              0
  25  Window             -1.507         1.322          -0.364         0              0              0
  26  Faucet             -3.401         1.017          1.531          0              90             0
  27  BathtubBasin       -0.155         0.042          0.884          0              0              0
  28  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  29  ShowerHead         -0.126         1.447          2.047          0              270            0
  30  Bathtub            -0.205         0.359          0.924          0              0              0
  31  Mirror             -3.447         1.575          1.516          0              0              0
  32  TowelHolder        -2.049         1.045          -0.290         0              0              0
  33  TowelHolder        -1.304         1.045          -0.290         0              0              0
  34  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  35  Shelf              -2.587         0.778          3.909          0              0              0
  36  Shelf              -2.587         1.287          3.941          0              0              0
  37  Shelf              -2.587         1.032          3.941          0              0              0
  38  Shelf              -2.587         1.534          3.909          0              0              0
  39  GarbageCan         0.047          -0.002         3.878          0              0              0
  40  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  41  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  42  Toilet             0.063          0.002          3.096          0              0              0
  43  LightSwitch        -3.459         1.437          2.496          0              90             0
  44  Sink               -3.115         -0.013         1.531          0              90             0
  45  SinkBasin          -3.081         0.935          1.537          0              90             0
  46  SideTable          -3.171         0.002          0.170          0              270            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn to your right move forward and face the tub on you left | STEP 2: Pick up the sponge on the tub | STEP 3: Turn to your left and go to the sink | STEP 4: Put the sponge in the sink and rinse it | STEP 5: Turn right then head to the shelf rack on your right  | STEP 6: Put the sponge on the very top of the shelf rack beside the blue bottle | END