Task: Wet a sponge for use in a tub.

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           0.913          0.25           0              270            0
   1  Cloth              -2.977         0.873          1.317          0              90             0              44
   2  Cloth              0.111          0.961          -1.993         0              0              0              25
   3  SoapBar            -2.808         0.874          1.239          0              90             0              44
   4  SprayBottle        -2.808         0.240          1.629          0              90             0              44
   5  SoapBottle         0.930          0.634          -2.094         0              0              0              33
   6  Candle             -0.048         0.962          -2.275         0              0              0              25
   7  HandTowel          -0.885         1.617          -2.503         0              180            0              34
   8  Towel              0.465          1.21           -1.095         0              270            0              30
   9  SoapBottle         -2.977         0.257          1.473          0              90             0              44
  10  SoapBar            -2.796         0.898          0.759          0              90             0              41
  11  ToiletPaper        -3.090         0.240          1.707          0              90             0              44
  12  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  13  SprayBottle        0.073          0.962          2.277          0              270            0              39
  14  TissueBox          0.270          0.963          -1.805         0              0              0              25
  15  ToiletPaper        -0.368         0.959          -1.993         0              0              0              25
  16  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  17  Cloth              -2.034         0.075          -1.039         0              45             0              Floor|-00.35|
  18  DishSponge         0.270          0.964          -2.181         0              0              0              25
  19  Footstool          -0.325         0.297          -1.98          0              0              0              Floor|-00.35|
  20  Bathtub            -1.957         0.494          -1.233         0              0              0
  21  ShowerDoor         0.650          1.413          2.169          0              0              0
  22  ShowerGlass        0.0            0.0            0.0            0              0              0
  23  Drawer             0.300          0.304          -1.820         0              0              0
  24  Mirror             -0.046         1.512          -2.538         0              0              0
  25  CounterTop         0.196          0.430          -2.010         0              0              0
  26  Sink               -2.796         0.328          0.755          0              90             0
  27  Drawer             0.300          0.833          -1.820         0              0              0
  28  Drawer             0.300          0.682          -1.820         0              0              0
  29  Drawer             0.300          0.492          -1.820         0              0              0
  30  TowelHolder        0.572          1.195          -1.095         0              270            0
  31  GarbageCan         -0.564         0.010          2.061          0              195.0          0
  32  ToiletPaperHanger  -0.574         0.926          2.407          0              180            0
  33  Shelf              1.536          0.613          -2.242         0              0              0
  34  HandTowelHolder    -0.884         1.718          -2.542         0              270            0
  35  Window             -3.170         1.812          -1.697         90             90             0
  36  Window             -3.170         1.812          1.597          90             90             0
  37  Window             -2.144         1.809          -2.573         90             0              0
  38  Window             -3.170         1.812          -0.054         90             90             0
  39  Toilet             -0.064         0.012          1.838          0              180            0
  40  LightSwitch        -1.406         1.472          2.407          0              180            0
  41  SinkBasin          -2.796         0.875          0.765          0              90             0
  42  ShowerHead         1.591          1.700          -2.424         0              90             0
  43  Faucet             -2.676         0.423          -0.312         0              99.958         0
  44  SideTable          -2.847         0.013          1.509          0              90             0
  45  Faucet             -3.106         1.056          0.757          0              90             0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Walk to the kitchen counter on your left. | STEP 2: Grab a sponge from the counter. | STEP 3: Walk to the left edge of the kitchen sink. | STEP 4: Place the sponge in the sink, wash it, then grab it. | STEP 5: Turn around to the tub behind you. | STEP 6: Put the sponge in the tub. | END