Task: Put two sponges on the metal shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.901          0.0            0              270            0
   1  Cloth              -3.150         0.863          0.078          0              270            0              44
   2  SoapBar            -3.086         0.871          1.531          0              90             0              43
   3  Candle             0.355          1.048          2.969          0              270            0              40
   4  Candle             -0.678         0.632          1.828          0              227.956        0              28
   5  SprayBottle        0.447          1.048          3.166          0              270            0              40
   6  SprayBottle        0.294          1.048          3.034          0              270            0              40
   7  DishSponge         -0.058         0.054          1.114          0              0              0              25
   8  DishSponge         0.355          1.048          3.297          0              270            0              40
   9  Towel              -1.304         1.059          -0.183         0              0              0              31
  10  HandTowel          -3.419         1.338          2.102          0              270            0              38
  11  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  12  SoapBar            -2.293         1.543          3.909          0              0              0              36
  13  ToiletPaper        -3.319         0.232          0.234          0              270            0              44
  14  SoapBottle         0.374          0.633          1.844          0              317.956        0              28
  15  ToiletPaper        -2.667         1.038          3.919          0              0              0              35
  16  Cloth              -0.058         0.053          0.423          0              0              0              25
  17  PaperTowelRoll     -2.667         1.649          3.909          0              0              0              36
  18  Candle             0.416          1.048          2.969          0              270            0              40
  19  SprayBottle        -0.771         0.044          3.832          0              0              0              37
  20  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  21  DishSponge         -0.867         0.044          3.887          0              0              0              37
  22  Faucet             -0.141         0.524          -0.211         0              0              0
  23  Window             -1.507         1.322          -0.364         0              0              0
  24  Faucet             -3.401         1.017          1.531          0              90             0
  25  BathtubBasin       -0.155         0.042          0.884          0              0              0
  26  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  27  ShowerHead         -0.126         1.447          2.047          0              270            0
  28  Bathtub            -0.205         0.359          0.924          0              0              0
  29  Mirror             -3.447         1.575          1.516          0              0              0
  30  TowelHolder        -2.049         1.045          -0.290         0              0              0
  31  TowelHolder        -1.304         1.045          -0.290         0              0              0
  32  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  33  Shelf              -2.587         0.778          3.909          0              0              0
  34  Shelf              -2.587         1.287          3.941          0              0              0
  35  Shelf              -2.587         1.032          3.941          0              0              0
  36  Shelf              -2.587         1.534          3.909          0              0              0
  37  GarbageCan         0.047          -0.002         3.878          0              0              0
  38  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  39  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  40  Toilet             0.063          0.002          3.096          0              0              0
  41  LightSwitch        -3.459         1.437          2.496          0              90             0
  42  Sink               -3.115         -0.013         1.531          0              90             0
  43  SinkBasin          -3.081         0.935          1.537          0              90             0
  44  SideTable          -3.171         0.002          0.170          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around to walk to the bathtub. | STEP 2: Pick up the sponge from the bathtub. | STEP 3: Turn around to walk towards the metal shelf. | STEP 4: Put the sponge on the metal shelf next to the black rag. | STEP 5: Make a right to walk across the room to the toilet. | STEP 6: Pick up the sponge from the lid of the toilet tank. | STEP 7: Turn around to make a left to walk across the room to the metal shelf. | STEP 8: Put the other sponge on the metal shelf next to the black rag. | END