Task: place a clean sponge in the towel rack

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.913          -1.5           0              90             0
   1  Cloth              0.300          0.436          -1.939         0              270            0              29
   2  Cloth              -2.921         0.245          1.629          0              90             0              44
   3  SoapBar            -2.808         0.246          1.239          0              90             0              44
   4  SprayBottle        -2.987         0.053          2.087          0              90             0              44
   5  DishSponge         -2.977         0.875          1.707          0              90             0              44
   6  Candle             -0.239         0.965          2.196          0              270            0              39
   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         -0.527         0.973          -1.899         0              0              0              25
  10  SoapBar            1.355          0.623          -2.242         0              0              0              33
  11  ToiletPaper        -0.178         0.957          2.268          0              0              0              39
  12  Plunger            0.506          0.011          2.268          0              0              0              Floor|-00.35|
  13  SprayBottle        0.135          0.962          2.277          0              270            0              39
  14  TissueBox          1.142          0.624          -2.389         0              0              0              33
  15  ToiletPaper        -0.515         0.031          2.338          0              0              90             31
  16  ScrubBrush         0.342          0.012          2.072          0              0              0              Floor|-00.35|
  17  Cloth              0.357          0.626          -1.939         0              270            0              28
  18  DishSponge         0.300          0.250          -1.872         0              0              0              23
  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: go to the towel rack in the bathroom | STEP 2: grab the sponge off of the towel rack | STEP 3: bring the sponge over to the left side of the bathroom sink | STEP 4: wash the sponge out in the sink and pick it back up | STEP 5: bring the sponge over to the towel rack again | STEP 6: place the sponge in the towel rack | END