Task: Place a rinsed sponge in the bathtub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.0           0.902          2.25           0              180            0
   1  Candle             -2.933         1.086          0.455          0              90             0              41
   2  SoapBottle         -2.595         0.092          3.113          0              0              0              30
   3  Towel              -0.106         1.510          1.943          0              270            0              33
   4  Candle             -2.902         1.086          0.652          0              90             0              41
   5  SoapBottle         -2.613         0.093          3.328          0              0              0              19
   6  HandTowel          -2.698         1.521          2.867          0              0              0              34
   7  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
   8  SoapBar            -2.762         0.937          2.006          0              90             0              39
   9  ToiletPaper        -2.328         0.791          0.079          0              0              270            36
  10  Cloth              -2.752         0.929          2.734          0              0              0              31
  11  ToiletPaper        -2.927         1.197          1.459          0              0              0              32
  12  SprayBottle        -2.792         1.206          1.430          0              270            0              32
  13  PaperTowelRoll     -0.160         0.157          0.216          0              0              0              37
  14  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  15  DishSponge         -2.429         1.207          1.460          0              270            0              32
  16  Cabinet            -2.410         0.371          2.862          0              0              0
  17  Mirror             -2.973         1.613          2.265          0              0              0
  18  Bathtub            -0.435         0.182          1.575          0              0              0
  19  Cabinet            -2.410         0.371          3.570          0              0              0
  20  Cabinet            -2.410         0.371          2.040          0              0              0
  21  Cabinet            -2.410         1.261          2.913          0              0              0
  22  Faucet             -0.769         0.416          1.0            0              9.958          0
  23  Cabinet            -2.410         1.261          3.570          0              0              0
  24  Sink               -2.723         0.862          2.231          0              90             0
  25  Cabinet            -2.410         2.022          2.913          0              0              0
  26  Cabinet            -2.410         0.371          1.585          0              0              0
  27  Drawer             -2.638         0.767          3.239          0              0              0
  28  Cabinet            -2.410         2.022          3.570          0              0              0
  29  Faucet             -2.928         0.978          2.231          0              90             0
  30  Cabinet            -2.410         0.371          2.913          0              0              0
  31  CounterTop         -2.688         0.966          2.260          0              0              0
  32  CounterTop         -2.611         1.243          1.455          0              270            0
  33  TowelHolder        0.0            1.496          1.942          0              270            0
  34  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  35  Window             -2.256         1.656          -0.021         90             0              0
  36  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  37  GarbageCan         -0.403         -0.027         0.241          0              0              0
  38  BathtubBasin       -0.435         0.185          1.544          0              0              0
  39  SinkBasin          -2.736         0.929          2.241          0              90             0
  40  LightSwitch        -1.675         1.442          3.610          0              180            0
  41  Toilet             -2.579         0.032          0.656          0              180            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn right and move to the counter to the right of the toilet and to the left of the sink. | STEP 2: Pick up the green sponge near the front edge of the counter. | STEP 3: Turn left and move towards and then face the sink. | STEP 4: Place the sponge in the sink, rinse it using the faucet, and then pick up the sponge. | STEP 5: Turn around and move to the end of the bathtub closest to the bathroom door. | STEP 6: Place the sponge in the center of the bathtub. | END