Task: To rinse off a sponge and put it 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              -0.75          0.913          1.0            0              90             0
   1  TissueBox          -0.048         0.963          -1.993         0              0              0              29
   2  SoapBar            -1.957         0.076          -1.433         0              45             0              29
   3  SoapBar            -1.863         0.076          -1.104         0              45             0              29
   4  SprayBottle        -0.208         0.959          -2.181         0              0              0              29
   5  SprayBottle        0.270          0.959          -1.805         0              0              0              29
   6  DishSponge         -2.193         0.078          -1.198         0              45             0              29
   7  DishSponge         -0.048         0.964          -2.181         0              0              0              29
   8  SoapBottle         0.135          0.976          2.330          0              270            0              43
   9  SoapBottle         -2.864         0.255          1.629          0              90             0              48
  10  Candle             0.135          0.964          2.223          0              270            0              43
  11  HandTowel          -0.885         1.617          -2.503         0              180            0              38
  12  Towel              0.465          1.21           -1.095         0              270            0              34
  13  SoapBottle         -2.808         0.257          1.317          0              90             0              48
  14  SoapBar            0.243          0.627          -1.872         0              0              0              32
  15  ToiletPaper        -0.178         0.957          2.268          0              0              0              43
  16  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  17  SprayBottle        1.780          0.620          -2.463         0              0              0              37
  18  TissueBox          -0.368         0.963          -2.275         0              0              0              29
  19  ToiletPaper        -0.515         0.031          2.338          0              0              90             35
  20  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  21  Cloth              1.567          0.622          -2.094         0              0              0              37
  22  DishSponge         -2.046         0.078          -0.816         0              45             0              45
  23  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  24  Bathtub            -1.957         0.494          -1.233         0              0              0
  25  ShowerDoor         0.650          1.413          2.169          0              0              0
  26  ShowerGlass        0.0            0.0            0.0            0              0              0
  27  Drawer             0.300          0.304          -1.820         0              0              0
  28  Mirror             -0.046         1.512          -2.538         0              0              0
  29  CounterTop         0.196          0.430          -2.010         0              0              0
  30  Sink               -2.796         0.328          0.755          0              90             0
  31  Drawer             0.300          0.833          -1.820         0              0              0
  32  Drawer             0.300          0.682          -1.820         0              0              0
  33  Drawer             0.300          0.492          -1.820         0              0              0
  34  TowelHolder        0.572          1.195          -1.095         0              270            0
  35  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  36  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  37  Shelf              1.536          0.613          -2.242         0              0              0
  38  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  39  Window             -3.170         1.812          -1.697         90             90             0
  40  Window             -3.170         1.812          1.597          90             90             0
  41  Window             -2.144         1.809          -2.573         90             0              0
  42  Window             -3.170         1.812          -0.054         90             90             0
  43  Toilet             -0.064         0.012          1.838          0              180            0
  44  LightSwitch        -1.406         1.472          2.407          0              180            0
  45  SinkBasin          -2.796         0.875          0.765          0              90             0
  46  ShowerHead         1.591          1.700          -2.424         0              90             0
  47  Faucet             -2.676         0.423          -0.312         0              99.958         0
  48  SideTable          -2.847         0.013          1.509          0              90             0
  49  Faucet             -3.106         1.056          0.757          0              90             0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Walk to the tub on the other side of the room.  | STEP 2: Pick up the sponge that's farthest away in the tub.  | STEP 3: Turn around to face the sink.  | STEP 4: Put the sponge inside of the sink, rinse the sponge off with water, pick the sponge up from the sink.  | STEP 5: Turn around to face the tub again.  | STEP 6: Place the sponge in the tub to the right of the other sponge.  | END